Abstract
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE Internation Conference on Robotics and Automation |
| Place of Publication | USA |
| Publisher | IEEE ROBOTICS AND AUTOMATION SOCIETY |
| Pages | 2104-2110 |
| Number of pages | 7 |
| ISBN (Print) | 978-1-61284-385-8 |
| 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 | China |
| City | Shanghai |
| Period | 9/05/11 → 13/05/11 |
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Keywords
- EWI-19613
- METIS-277541
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Bilateral Telemanipulation: Improving the Complementarity of the Frequency- and Time-Domain Passivity Approaches. / Franken, M.C.J.; Willaert, B.; Misra, Sarthak; Stramigioli, Stefano.
Proceedings of the IEEE Internation Conference on Robotics and Automation. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2011. p. 2104-2110.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Bilateral Telemanipulation: Improving the Complementarity of the Frequency- and Time-Domain Passivity Approaches
AU - Franken, M.C.J.
AU - Willaert, B.
AU - Misra, Sarthak
AU - Stramigioli, Stefano
N1 - eemcs-eprint-19613
PY - 2011/5/9
Y1 - 2011/5/9
N2 - 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.
AB - 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.
KW - EWI-19613
KW - METIS-277541
U2 - 10.1109/ICRA.2011.5979969
DO - 10.1109/ICRA.2011.5979969
M3 - Conference contribution
SN - 978-1-61284-385-8
SP - 2104
EP - 2110
BT - Proceedings of the IEEE Internation Conference on Robotics and Automation
PB - IEEE ROBOTICS AND AUTOMATION SOCIETY
CY - USA
ER -