h-Parameter Analysis Of Teleoperators

Abstract

Hybrid two-port input/output mathematical model originally developed for small-signal analysis of transistors, amplifiers, and electrical networks in general adapted to analysis of teleoperator sensing forces and velocities at master and slave. Well suited to characterization of bidirectional flows of energy in terms of relationships between input and output signals. Leads to intuitive representation of performance of system and used to design system according to concept of bilateral impedance control.