• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.32-37
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• 2002

Applications of scaled telemanipulation into micro or nano world that shows many different features from directly human interfaced tools have been increased continuously. Here, we have to consider many aspects of scaling such as force, position, and impedance. For instance, what will be the possible range of force and position scaling with a specific level of performance and stability\ulcorner This knowledge of feasible staling region can be critical to human operator safety. In this paper, we show the upper bound of the product of force and position scaling and simulation results of 1DOF scaled system by using the Llewellyn's unconditional stability in continuous and discrete domain showing the effect of sampling rate.

• Journal of Mechanical Science and Technology
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• v.15 no.1
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• pp.1-9
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• 2001

The recent spread of scaled telemanipulation into microsurgery and the nano-world increasingly requires the identification of the possible operation region as a main system specification. A teleoperation system is a complex cascaded system since the human operator, master, slave, and communication are involved bilaterally. Hence, a small time delay inside a master and slave system can be critical to the overall system stability even without communication time delay. In this paper we derive an upper bound of the scaling product of position and force by using Llewellyns unconditional stability. This bound can be used for checking the validity of the designed bilateral controller. Time delay from the sample and hold of computer control and its effects on stability of scaled teleoperation are modeled and simulated based on the transfer function of the teleoperation system. The feasible operation region in terms of position and force scaling decreases sharply as the sampling rate decreases and time delays inside the master and slave increase.