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Stable Forbidden-Region Virtual Fixtures for Bilateral Telemanipulation

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Figure

Fig. 1 General three-channel telemanipulator implemented with a digital computer
Figure 6 shows the result of this algorithm run at two different values of K sVF , with all other system parameters constant
Fig. 8 Predicted and experimental stability bounds for slave FRVFs, at 500 Hz sampling rate
Fig. 10 Predicted and experimental stability bounds for slave FRVFs versus sampling rate for unilateral telemanipulation, with K ps = 1000 N / m and K ds = 6 Ns/ m
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