Bilateral Telemanipulation: Improving the Complementarity of the Frequency- and Time-Domain Passivity Approaches

M.C.J. Franken, B. Willaert, Sarthak Misra, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    5 Citations (Scopus)

    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 languageEnglish
    Title of host publicationProceedings of the IEEE Internation Conference on Robotics and Automation
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages2104-2110
    Number of pages7
    ISBN (Print)978-1-61284-385-8
    DOIs
    Publication statusPublished - 9 May 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
    Duration: 9 May 201113 May 2011

    Conference

    Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Abbreviated titleICRA
    CountryChina
    CityShanghai
    Period9/05/1113/05/11

    Keywords

    • EWI-19613
    • METIS-277541

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  • Cite this

    Franken, M. C. J., Willaert, B., Misra, S., & Stramigioli, S. (2011). Bilateral Telemanipulation: Improving the Complementarity of the Frequency- and Time-Domain Passivity Approaches. In Proceedings of the IEEE Internation Conference on Robotics and Automation (pp. 2104-2110). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/ICRA.2011.5979969