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

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

doi:10.1109/ICRA.2011.5979969

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 proceeding › Conference contribution › Academic › peer-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 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	https://doi.org/10.1109/ICRA.2011.5979969
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

Keywords

EWI-19613
METIS-277541

Access to Document

10.1109/ICRA.2011.5979969

http://eprints.eemcs.utwente.nl/secure2/19613/01/05979969.pdf

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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

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Franken, MCJ, 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. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 2104-2110, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9/05/11. https://doi.org/10.1109/ICRA.2011.5979969

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

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