{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:37Z","timestamp":1777715737752,"version":"3.51.4"},"reference-count":28,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2000,3,1]],"date-time":"2000-03-01T00:00:00Z","timestamp":951868800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,3]]},"abstract":"<jats:p>This paper presents a stability analysis of force-position teleoperation under general end-effector contact. The analysis is based on the finite and infinite zero structure of the multivariable root-locus resulting from modulation of the environment stiffness. The starting point is an analysis of the stability of robot force control, motivated by the observation that the human-operator in a force reflection loop acts as a \u201cforce servo,\u201d generating position commands in response to reflected force. Asymptotic root loci properties are used to establish passivity conditions on force feedback to give root locus interpretations of the well-known results that (1) feedback via the inverse joint Jacobian can lead to (kinematic) instability and that (2) passivity is preserved by kinematically proper force feedback through the transpose of the joint angle Jacobian. It is demonstrated that a fully constrained force-position teleoperation loop has an identical infinite zero structure to that of a slave manipulator under kinematically proper force control and that the dominant vibration modes of a force-position loop are fully described by a multivariable analogue of the single-input single-output pseudo-system investigated in a study by Daniel and McAree. Extension of the analysis to cover partial end-effector constraint provides a design tool for teleoperation control and serves to aid selection of teleoperation slave-arms. The paper concludes by giving a passivity condition for multiple-input multiple-output force-position teleoperation for stable contact against all environments.<\/jats:p>","DOI":"10.1177\/02783640022066824","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"203-224","source":"Crossref","is-referenced-by-count":2,"title":["Multivariable Stability of Force-Reflecting Teleoperation: Structures of                 Finite and Infinite Zeros"],"prefix":"10.1177","volume":"19","author":[{"given":"R. W.","family":"Daniel","sequence":"first","affiliation":[{"name":"Department of Engineering Science, The University of Oxford, Oxford,                         OX1-3PJ, United Kingdom"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P. R.","family":"McAree","sequence":"additional","affiliation":[{"name":"Department of Engineering Science, The University of Oxford, Oxford,                         OX1-3PJ, United Kingdom"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,3,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800403"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100204"},{"key":"atypb3","doi-asserted-by":"crossref","unstructured":"Armstrong, B., Khatib, O., and Burdick, J. 1986. Explicit dynamic model and inertial parameters of the PUMA 560 arm . Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, CA, pp. 510\u2013518 .","DOI":"10.1109\/ROBOT.1986.1087644"},{"key":"atypb4","unstructured":"Brooks, T. L. 1990. Telerobot response requirements. A position paper on control requirements for the FTS telerobot. Rep. No. STC\/ROB\/90-93. Lanham, MD: STX ."},{"key":"atypb5","doi-asserted-by":"crossref","unstructured":"Colgate, J. E. 1991. Power and impedance scaling in bilateral manipulation . Proc. IEEE Int. Conf. Robotics and Automation, Sacramento, CA, pp. 2292\u20132297 .","DOI":"10.1109\/ROBOT.1991.131973"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700801"},{"key":"atypb7","doi-asserted-by":"crossref","unstructured":"Daniel, R. W., and McAree, P. R. 1998b. Testing a visual phase advance hypothesis for telerobotics. In Robotics Research: The Eighth International Symposium, ed. Y. Shrirai and S. Hirose, 290\u2013295. Shonan, Japan: Springer-Verlag .","DOI":"10.1007\/978-1-4471-1580-9_27"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700708"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/70.182675"},{"key":"atypb10","unstructured":"Fischer, P. J. 1993. A novel input device for force control of robots. 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