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13. 3. 2011.
Bilateral Control Systems
The subject in this chapter is the bilateral control with and without a delay in the control loop. The solution is presented for systems with and without scaling of the interaction variables (position, force). The issues of transparency and the operator's role in the overall system are shown. Bilateral control in systems with a constant and variable unknown delay in measurement and in the control channels is also discussed. Simulation examples are presented to illustrate system behavior.