Bridging the gap between passivity and transparency

M.C.J. Franken, Stefano Stramigioli, Rob Reilink, Cristian Secchi, A. Macchelli, Alessandro Macchelli

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    Abstract

    In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest trans- parency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy balance which will ensure passivity and one for the haptic information between master and slave and which will address transparency. The authors believe that this structure is the most general up to date which preserves passivity under discrete time varying delays allowing different control schemes to address transparency.
    Original languageUndefined
    Title of host publicationRobotics: Science and Systems V
    PublisherRobotics Science and Systems
    Pages36
    Number of pages8
    ISBN (Print)978-1-57735-183-2
    Publication statusPublished - 1 Jul 2009
    EventRobotics: Science and Systems V - Seattle, Washington, USA
    Duration: 28 Jun 20091 Jul 2009

    Publication series

    Name
    PublisherRobotics Science and Systems

    Conference

    ConferenceRobotics: Science and Systems V
    Period28/06/091/07/09
    Other28 June - 1 July, 2009

    Keywords

    • METIS-268943
    • EWI-17879
    • IR-71391

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