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P. Arcara, C. Melchiorri
"Position Drift Compensation for a Passivity-Based Telemanipulation Control Scheme"
 
Type Conference
Author(s) P. Arcara, C. Melchiorri
Title Position Drift Compensation for a Passivity-Based Telemanipulation Control Scheme
Editor 8th Mechatronics Forum, Netherlands, 24-26 June
Keywords Telemanipulation, passive control, time delay, robotics
Abstract
In the literature, a number of interesting control schemes has been proposed for telemanipulation robotic systems, see (Hannaford 1989), (Anderson and Spong 1992), (Lawrence 1993) and (Arcara and Melchiorri 2001). In particular, during the last years, passivity based control schemes, e.g. (Niemeyer and Slotine 1991), (Stramigioli 2001) and (Arcara, Melchiorri and Stramigioli 2001), have been widely used in order to guarantee the stability of the whole system. This paper deals with the problem of position drift, i.e. the error between master and slave positions during the execution of certain tasks, originated in particular when an Intrinsically Passive Controller is adopted. It is shown that by introducing a proper modification of the basic control scheme, the position drift can be compensated. Preliminary experimental results are presented and discussed.
Document 5350.Document.pdf (25391 bytes)
Year 2002


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