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 proceedingConference contributionAcademicpeer-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 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.
Secchi, C ; Stramigioli, Stefano ; Fantuzzi, C. / Compensation of position errors in passivity based teleoperation over packet switched communication networks. 17th IFAC World Congress. IFAC, 2008. pp. 15648-15653 (IFAC; DTR08-9).
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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. IFAC, no. DTR08-9, IFAC, pp. 15648-15653, 17th IFAC World Congress 2008, Seoul, Korea, Republic of, 5/07/08.

Compensation of position errors in passivity based teleoperation over packet switched communication networks. / Secchi, C; Stramigioli, Stefano; Fantuzzi, C.

17th IFAC World Congress. IFAC, 2008. p. 15648-15653 (IFAC; No. DTR08-9).

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

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Secchi C, Stramigioli S, Fantuzzi C. Compensation of position errors in passivity based teleoperation over packet switched communication networks. In 17th IFAC World Congress. IFAC. 2008. p. 15648-15653. (IFAC; DTR08-9).