Abstract
Passivity of bilateral telemanipulation systems ensures stability of the interaction with such systems. In the frequency domain, passivity of a linear time invariant
approximation of the system can be designed for a considered set of operating conditions. Non-linear control structures have been proposed that enforce passivity of
the system in the time domain. In this paper, extensions are proposed that increase the complimentarity of the frequency- and time-domain approaches. The combination
of both approaches allows a guaranteed measure of transparency to be designed in the frequency domain for a desired set of operating conditions. For operating
conditions outside the desired set, stable interaction is guaranteed by the non-linear passivity enforcing control structure. Simulation results of the combined approach are
presented that show that the stability properties of the bilateral controller designed in the frequency domain are improved and the transparency properties are improved
with respect to those of the standard passivity-enforcing algorithm in the time-domain.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE Internation Conference on Robotics and Automation 2011 |
| Place of Publication | Piscataway, NJ |
| Publisher | IEEE |
| Pages | 2104-2110 |
| Number of pages | 7 |
| ISBN (Electronic) | 978-1-61284-385-8 |
| ISBN (Print) | 978-1-61284-386-5, 978-1-61284-380-3 (CD) |
| DOIs | |
| Publication status | Published - 9 May 2011 |
| Event | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 9 May 2011 → 13 May 2011 |
Conference
| Conference | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 |
|---|---|
| Abbreviated title | ICRA |
| Country/Territory | China |
| City | Shanghai |
| Period | 9/05/11 → 13/05/11 |
Keywords
- 22/4 OA procedure
- Telemanipulation