This paper describes the implementation of a two-channel position-force control architecture on a three degree-of-freedom scaled master-slave telemanipulation system. The architecture enables the authors to address both the transparency bandwidth and stability robustness of the system. First, the uncompensated transparency and stability robustness of the bilateral telemanipulation system are experimentally assessed. Then, loop-shaping compensators are used to increase the transparency bandwidth, while maintaining the stability robustness of the system, and the results are compared with those of the uncompensated system.

Describes a design technique for simultaneously increasing the transparency bandwidth and stability robustness of a two-channel position-force bilateral teleoperation architecture. Specifically, the stability and performance enhancements are obtained by introducing a dynamic compensator into the system to shape the frequency-domain properties of the human-teleoperator-environment loop. This design technique is demonstrated in a single degree-of-freedom numerical example.

This paper describes the fundamental physical motivations for small-scale minimum surface-effect design, and presents a three degree-of-freedom micromanipulator design that incorporates a minimum surface-effect approach. The primary focus of the design is the split-tube flexure, a unique small-scale revolute joint that exhibits a considerably larger range of motion and significantly better multi-axis revolute joint characteristics than a conventional flexure. The development of this joint enables the implementation of a small-scale spatially-loaded revolute joint-based manipulator with well-behaved kinematic characteristics and without the backlash and stick-slip behavior that would otherwise prevent precision control.