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