ABSTRACT
The waveform of the operating force of the master and the manipulating force of the slave which are observed under free motion condition are shown in FIGURE 7.
CONCLUSION
(1) A simple method of stability analysis of bilateral control system is proposed. (2) Stability characteristics of force symmetric and displacement feedback bilateral control electrohydraulic master-slave servomechanism is represented on a nondimensional parameter plane. From this analysis, it is shown that the value of system parameter K(Ksz is limited principally by free motion
condition and K 3f by blocked motion condition. (3) Waveforms of the controlled forces are observed experimentally.
