Dimensional Analysis and Selective Distortion in Scaled Bilateral Telemanipulation

ThiJ puper addresses the issue of dynamic similarity and intensive property invariance in scaled bilateral naunipulation, and ofsers a design methodology bused on these considerations. Dimensional analysis methods are utilized to form the basis of a constrained optimization problem that enables selection of a force scaling factor that minimizes the intensive distortion of the environment. The proposed jormulation is applicable to any physical environment, including those that are nonlinear and contain multiple degrees of freedom. Further, the formulation does not require an exact environmental model, provided the parameters that influence the environment are known. The proposed techniques are particularly relevant to bilateral manipulation of a niicroscopic environment (i.e., macro-micro bilateral manipulation), since such environments are difficult to model exactly and are lurgely injluenced by nonlinear effects.

• Type: Conference
• Year: 1998
• Where: ICRA
• Authors: Michael Goldfarb
• Keywords: Bilateral Manipulation, ICRA 1998, Intensive Property Invariance, Robotics, Scaled Bilateral Naunipulation