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

C Secchi, Stefano Stramigioli, C. Fantuzzi

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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 languageUndefined
    Title of host publication17th IFAC World Congress
    PublisherIFAC
    Pages15648-15653
    Number of pages6
    ISBN (Print)978-1-1234-7890-7
    Publication statusPublished - Jul 2008
    Event17th IFAC World Congress 2008 - Seoul, Korea, Republic of
    Duration: 5 Jul 200812 Jul 2008
    Conference number: 17

    Publication series

    NameIFAC
    PublisherIFAC
    NumberDTR08-9

    Conference

    Conference17th IFAC World Congress 2008
    CountryKorea, Republic of
    CitySeoul
    Period5/07/0812/07/08

    Keywords

    • IR-64881
    • METIS-251084
    • EWI-13067

    Cite this

    Secchi, C., Stramigioli, S., & Fantuzzi, C. (2008). Compensation of position errors in passivity based teleoperation over packet switched communication networks. In 17th IFAC World Congress (pp. 15648-15653). (IFAC; No. DTR08-9). IFAC.