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P. Arcara, C. Melchiorri, S. Stramigioli
"Intrinsically Passive Control in Bilateral Teleoperation MIMO Systems"
 
Type Conference
Author(s) P. Arcara, C. Melchiorri, S. Stramigioli
Title Intrinsically Passive Control in Bilateral Teleoperation MIMO Systems
Editor Proc. ECC 2001, Porto, P, Set. 4-7,2001
Keywords Dissipative and Energy-based Design, Manipulators, Telerobotics, Time Delay Systems
Abstract
In the literature, a number of interesting control schemes has been proposed for telemanipulation robotic systems. Because of the intrinsically non constant and large time delay, due to the communication channel, passivity has been largely used in these schemes in order to achieve stability of the overall teleoperation system. In this paper, the application to this context of a control scheme based on the equivalence with passive physical systems is discussed. This scheme allows to achieve stability and good performances also in cases where the time-delay is not constant. Moreover, the multi-dimensional case is taken into account, considering tasks in which not only linear motions/forces are present but also rotations and torques. Simulation results are presented and discussed.
Document 11c5.Document.pdf (897888 bytes)
Year 2001


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