Compensation of position errors in passivity based teleoperation over packet switched communication networks

C Secchi; Stefano Stramigioli; C. Fantuzzi

Compensation of position errors in passivity based teleoperation over packet switched communication networks

C Secchi, Stefano Stramigioli, C. Fantuzzi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance controller for compensating the steady state position error arising in free motion because of packets loss.

Original language	Undefined
Title of host publication	17th IFAC World Congress
Publisher	IFAC
Pages	15648-15653
Number of pages	6
ISBN (Print)	978-1-1234-7890-7
Publication status	Published - Jul 2008
Event	17th IFAC World Congress 2008 - Seoul, Korea, Republic of Duration: 5 Jul 2008 → 12 Jul 2008 Conference number: 17

Publication series

Name	IFAC
Publisher	IFAC
Number	DTR08-9

Conference

Conference	17th IFAC World Congress 2008
Country/Territory	Korea, Republic of
City	Seoul
Period	5/07/08 → 12/07/08

Keywords

IR-64881
METIS-251084
EWI-13067

Access to Document

http://www.ifac-papersonline.net/Detailed/38328.html

Cite this

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title = "Compensation of position errors in passivity based teleoperation over packet switched communication networks",

abstract = "Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance controller for compensating the steady state position error arising in free motion because of packets loss.",

keywords = "IR-64881, METIS-251084, EWI-13067",

author = "C Secchi and Stefano Stramigioli and C. Fantuzzi",

year = "2008",

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T1 - Compensation of position errors in passivity based teleoperation over packet switched communication networks

AU - Secchi, C

AU - Stramigioli, Stefano

AU - Fantuzzi, C.

N1 - Conference code: 17

PY - 2008/7

Y1 - 2008/7

N2 - Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance controller for compensating the steady state position error arising in free motion because of packets loss.

AB - Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance controller for compensating the steady state position error arising in free motion because of packets loss.

KW - IR-64881

KW - METIS-251084

KW - EWI-13067

M3 - Conference contribution

SN - 978-1-1234-7890-7

T3 - IFAC

SP - 15648

EP - 15653

BT - 17th IFAC World Congress

PB - IFAC

Y2 - 5 July 2008 through 12 July 2008

ER -