Time domain passivity for delayed haptic telepresence with energy reference

This paper presents a new control strategy based on the time domain passivity control approach which copes with the active nature of delayed communication channels. Describing the system by means of network elements, the energy of the communication channel can be computed in real time and subsequent...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1612 - 1617
Main Authors Artigas, J., Preusche, C., Hirzinger, G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Communication channels
Communication system control
Control systems
Delay effects
Frequency domain analysis
Haptic interfaces
Humans
Master-slave
Real time systems
Stability
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ISBN9781424409112
142440911X
ISSN2153-0858
DOI10.1109/IROS.2007.4399570

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Summary:This paper presents a new control strategy based on the time domain passivity control approach which copes with the active nature of delayed communication channels. Describing the system by means of network elements, the energy of the communication channel can be computed in real time and subsequently dissipated, thus providing stable operation. This is done bilaterally, since the system energy may flow from master to slave and from slave to master. The approach is accompanied with some experiments which validate the method.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399570