Kinematic Compensation in Port-Hamiltonian Telemanipulation

C Secchi, Stefano Stramigioli, C. Fantuzzi

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

    Abstract

    One of the main drawbacks of passivity based bilateral telemanipulation over delayed communication channels is the presence of a position drift between master and slave robots during contact tasks; this kinematic mismatch degrades the interaction feeling perceived by the user. In this paper we consider port- Hamiltonian based telemanipulators and we exploit the interconnection structure of port-Hamiltonian systems to passively compensate the position drift.
    Original languageUndefined
    Title of host publicationProceedings of the 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC)
    PublisherIFAC
    Pages99-110
    Number of pages6
    ISBN (Print)978-3-540-73889-3
    DOIs
    Publication statusPublished - 2006
    Event3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNLC 2006 - Nagoya, Japan
    Duration: 19 Jul 200621 Jul 2006
    Conference number: 3

    Publication series

    NameLecture Notes in Control and Information Sciences
    PublisherIFAC
    Number11
    Volume366

    Workshop

    Workshop3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNLC 2006
    Abbreviated titleLHMNLC
    CountryJapan
    CityNagoya
    Period19/07/0621/07/06

    Keywords

    • CE-Advanced Robotics
    • EWI-12674
    • METIS-248250

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