Intrinsically Passive Control in Bilateral Teleoperation Mimo Systems

P. Arcara, C. Melchiorri, Stefano Stramigioli

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

8 Citations (Scopus)

Abstract

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.
Original languageEnglish
Title of host publicationEuropean Control Conference (ECC 2001)
Subtitle of host publication4-7 Sept. 2001
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages1180-1185
Number of pages6
ISBN (Print)978-3-9524173-6-2
Publication statusPublished - 2001
Event2001 European Control Conference, ECC 2001 - Porto, Portugal
Duration: 4 Sep 20017 Sep 2001

Conference

Conference2001 European Control Conference, ECC 2001
Abbreviated titleECC
CountryPortugal
CityPorto
Period4/09/017/09/01

Fingerprint

Remote control
Time delay
Communication channels (information theory)
Robotics
Torque

Keywords

  • METIS-201514

Cite this

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.
Arcara, P. ; Melchiorri, C. ; Stramigioli, Stefano. / Intrinsically Passive Control in Bilateral Teleoperation Mimo Systems. European Control Conference (ECC 2001): 4-7 Sept. 2001. Piscataway, NJ : IEEE, 2001. pp. 1180-1185
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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. IEEE, Piscataway, NJ, pp. 1180-1185, 2001 European Control Conference, ECC 2001, Porto, Portugal, 4/09/01.

Intrinsically Passive Control in Bilateral Teleoperation Mimo Systems. / Arcara, P.; Melchiorri, C.; Stramigioli, Stefano.

European Control Conference (ECC 2001): 4-7 Sept. 2001. Piscataway, NJ : IEEE, 2001. p. 1180-1185.

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

TY - GEN

T1 - Intrinsically Passive Control in Bilateral Teleoperation Mimo Systems

AU - Arcara, P.

AU - Melchiorri, C.

AU - Stramigioli, Stefano

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N2 - 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.

AB - 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.

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EP - 1185

BT - European Control Conference (ECC 2001)

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Arcara P, Melchiorri C, Stramigioli S. Intrinsically Passive Control in Bilateral Teleoperation Mimo Systems. In European Control Conference (ECC 2001): 4-7 Sept. 2001. Piscataway, NJ: IEEE. 2001. p. 1180-1185