Contact Instability in Rate-Control Telemanipulation

Authors:	Cheng Chi-Cheng, National Sun Yat-Sen University, Taiwan Chen Jiun-Hung, National Sun Yat-Sen University, Taiwan
Topic:	4.5 Human Machine Systems
Session:	Applications for Human-Machine Systems
Keywords:	Limit cycles, Oscillation, Robot dynamics, Telemanipulation, Teleoperation, Telerobotics

Abstract

Telemanipulation is usually provided with the force-reflective feature to give human operators information about the remote site. However, oscillations can always been found in contact with rigid environment. This paper presents theoretical analysis about the phenomenon of the contact oscillation in rate-control manipulation using the describing function technique. Occurrence and characteristics of limit cycles due to contact motion are verified by results of computer simulations.