Geometric scattering in robotic telemanipulation

Stefano Stramigioli; Arjan van der Schaft; Bernhard Maschke; Claudio Melchiorri

doi:10.1109/TRA.2002.802200

Geometric scattering in robotic telemanipulation

Stefano Stramigioli, Arjan van der Schaft, Bernhard Maschke, Claudio Melchiorri

Research output: Contribution to journal › Article › Academic › peer-review

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Abstract

In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no analysis of the time delay, but its presence justifies the use of scattering variables to preserve passivity. The contributions of the paper are twofold: first, a geometrical, multidimensional, power-consistent exposition of telemanipulation of intrinsically passive controlled physical systems, with a clarification on impedance matching, and second, a system theoretic condition for the adaptation of a general port-controlled Hamiltonian system with dissipation (port-Hamiltonian system) to a transmission line.

Original language	English
Pages (from-to)	588-596
Number of pages	9
Journal	IEEE transactions on robotics and automation
Volume	18
Issue number	4
DOIs	https://doi.org/10.1109/TRA.2002.802200
Publication status	Published - Aug 2002

Keywords

Passivity
Scattering
Hamiltonian systems
EWI-16721
physical control
IR-44077
METIS-208331
Telemanipulation

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10.1109/TRA.2002.802200

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title = "Geometric scattering in robotic telemanipulation",

abstract = "In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no analysis of the time delay, but its presence justifies the use of scattering variables to preserve passivity. The contributions of the paper are twofold: first, a geometrical, multidimensional, power-consistent exposition of telemanipulation of intrinsically passive controlled physical systems, with a clarification on impedance matching, and second, a system theoretic condition for the adaptation of a general port-controlled Hamiltonian system with dissipation (port-Hamiltonian system) to a transmission line.",

keywords = "Passivity, Scattering, Hamiltonian systems, EWI-16721, physical control, IR-44077, METIS-208331, Telemanipulation",

author = "Stefano Stramigioli and {van der Schaft}, Arjan and Bernhard Maschke and Claudio Melchiorri",

note = "doi: 10.1109/TRA.2002.802200 ",

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T1 - Geometric scattering in robotic telemanipulation

AU - Stramigioli, Stefano

AU - van der Schaft, Arjan

AU - Maschke, Bernhard

AU - Melchiorri, Claudio

N1 - doi: 10.1109/TRA.2002.802200

PY - 2002/8

Y1 - 2002/8

N2 - In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no analysis of the time delay, but its presence justifies the use of scattering variables to preserve passivity. The contributions of the paper are twofold: first, a geometrical, multidimensional, power-consistent exposition of telemanipulation of intrinsically passive controlled physical systems, with a clarification on impedance matching, and second, a system theoretic condition for the adaptation of a general port-controlled Hamiltonian system with dissipation (port-Hamiltonian system) to a transmission line.

AB - In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no analysis of the time delay, but its presence justifies the use of scattering variables to preserve passivity. The contributions of the paper are twofold: first, a geometrical, multidimensional, power-consistent exposition of telemanipulation of intrinsically passive controlled physical systems, with a clarification on impedance matching, and second, a system theoretic condition for the adaptation of a general port-controlled Hamiltonian system with dissipation (port-Hamiltonian system) to a transmission line.

KW - Passivity

KW - Scattering

KW - Hamiltonian systems

KW - EWI-16721

KW - physical control

KW - IR-44077

KW - METIS-208331

KW - Telemanipulation

U2 - 10.1109/TRA.2002.802200

DO - 10.1109/TRA.2002.802200

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EP - 596

JO - IEEE transactions on robotics and automation

JF - IEEE transactions on robotics and automation

SN - 1042-296X

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