Compensation of position errors in passivity based teleoperation over packet switched communication networks. Secchi, C., Stramigioli, S., & Fantuzzi, C. In Proceedings of the 17th IFAC World Congress, Seoul, South Korea, July~6–11, 2008. Invited session ``Putting Energy Back in Robot''
abstract   bibtex   
Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance controller for compensating the steady state position error arising in free motion because of packets loss.
@InProceedings{Secchi-et-al:IFAC:Seoul:2008,
  author = 	 {Cristian Secchi and Stefano Stramigioli and Cesare Fantuzzi},
  title = 	 {Compensation of position errors in passivity based teleoperation over packet switched communication networks},
  booktitle = {Proceedings of the 17th IFAC World Congress},
  year = 	 2008,
  address = 	 {Seoul, South Korea},
  month = 	 jul # "~6--11",
  isbn = {9783902661005},
  note = 	 {Invited session ``Putting Energy Back in Robot''},
  ID = 200807,
  href =         {\hyperbibref{2008-07-IFAC-Seoul-passivity-based-teleoperation.pdf}},
  file =         {papers/2008-07-IFAC-Seoul-passivity-based-teleoperation.pdf},
  abstract = {Because of the use of scattering based communication
                  channels, passivity based telemanipulation systems
                  can be subject to a steady state position error
                  between master and slave robots. In this paper, we
                  consider the case in which the passive master and
                  slave sides communicate through a packet switched
                  communication channel (e.g. Internet) and we provide
                  a modification of the slave impedance controller for
                  compensating the steady state position error arising
                  in free motion because of packets loss.}
}

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