In this paper two problems arising in the digital passive scheme for telemanipulation presented in  are addressed. At first, we show how to preserve system passivity in presence of quantization error introduced by position sensor (i.e. encoders) by introducing energy dissipation. Then, we introduce a scheme for a redundant communication channel that will compensate for missed packets improving performances while preserving passivity of the overall scheme.
|Title of host publication||Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)|
|Number of pages||6|
|Publication status||Published - 26 Dec 2003|
|Event||2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003 - Las Vegas, United States|
Duration: 27 Oct 2003 → 31 Oct 2003
|Conference||2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003|
|Period||27/10/03 → 31/10/03|