In the literature, a number of interesting control schemes has been proposed for telemanipulation robotic systems. Because of the intrinsically non constant and large time delay, due to the communication channel, passivity has been largely used in these schemes in order to achieve stability of the overall teleoperation system. In this paper, the application to this context of a control scheme based on the equivalence with passive physical systems is discussed. This scheme allows to achieve stability and good performances also in cases where the time-delay is not constant. Moreover, the multi-dimensional case is taken into account, considering tasks in which not only linear motions/forces are present but also rotations and torques. Simulation results are presented and discussed.
|Title of host publication||European Control Conference (ECC 2001)|
|Subtitle of host publication||4-7 Sept. 2001|
|Place of Publication||Piscataway, NJ|
|Number of pages||6|
|Publication status||Published - 2001|
|Event||2001 European Control Conference, ECC 2001 - Porto, Portugal|
Duration: 4 Sep 2001 → 7 Sep 2001
|Conference||2001 European Control Conference, ECC 2001|
|Period||4/09/01 → 7/09/01|
Arcara, P., Melchiorri, C., & Stramigioli, S. (2001). Intrinsically Passive Control in Bilateral Teleoperation Mimo Systems. In European Control Conference (ECC 2001): 4-7 Sept. 2001 (pp. 1180-1185). Piscataway, NJ: IEEE.