Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation

C. Secchi*, S. Stramigioli, C. Fantuzzi

*Corresponding author for this work

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

    20 Citations (Scopus)

    Abstract

    In this paper two problems arising in the digital passive scheme for telemanipulation presented in [3] 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.

    Original languageEnglish
    Title of host publicationProceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)
    Pages2823-2828
    Number of pages6
    DOIs
    Publication statusPublished - 26 Dec 2003
    Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003 - Las Vegas, United States
    Duration: 27 Oct 200331 Oct 2003

    Conference

    Conference2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003
    Abbreviated titleIROS
    CountryUnited States
    CityLas Vegas
    Period27/10/0331/10/03

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  • Cite this

    Secchi, C., Stramigioli, S., & Fantuzzi, C. (2003). Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation. In Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (pp. 2823-2828) https://doi.org/10.1109/IROS.2003.1249298