Kinematic Compensation in Port-Hamiltonian Telemanipulation

C Secchi; Stefano Stramigioli; C. Fantuzzi

doi:10.1007/978-3-540-73890-9_7

Kinematic Compensation in Port-Hamiltonian Telemanipulation

C Secchi
, Stefano Stramigioli
, C. Fantuzzi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

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 language	Undefined
Title of host publication	Proceedings of the 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC)
Publisher	IFAC
Pages	99-110
Number of pages	6
ISBN (Print)	978-3-540-73889-3
DOIs	https://doi.org/10.1007/978-3-540-73890-9_7
Publication status	Published - 2006
Event	3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNLC 2006 - Nagoya, Japan Duration: 19 Jul 2006 → 21 Jul 2006 Conference number: 3

Publication series

Name	Lecture Notes in Control and Information Sciences
Publisher	IFAC
Number	11
Volume	366

Workshop

Workshop	3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNLC 2006
Abbreviated title	LHMNLC
Country/Territory	Japan
City	Nagoya
Period	19/07/06 → 21/07/06

Keywords

CE-Advanced Robotics
EWI-12674
METIS-248250

Access to Document

10.1007/978-3-540-73890-9_7

Cite this

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title = "Kinematic Compensation in Port-Hamiltonian Telemanipulation",

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.",

keywords = "CE-Advanced Robotics, EWI-12674, METIS-248250",

author = "C Secchi and Stefano Stramigioli and C. Fantuzzi",

year = "2006",

doi = "10.1007/978-3-540-73890-9\_7",

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isbn = "978-3-540-73889-3",

series = "Lecture Notes in Control and Information Sciences",

publisher = "IFAC",

number = "11",

pages = "99--110",

booktitle = "Proceedings of the 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC)",

note = "3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNLC 2006 ; Conference date: 19-07-2006 Through 21-07-2006",

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Secchi, C, Stramigioli, S & Fantuzzi, C 2006, Kinematic Compensation in Port-Hamiltonian Telemanipulation. in Proceedings of the 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC). Lecture Notes in Control and Information Sciences, no. 11, vol. 366, IFAC, pp. 99-110, 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNLC 2006, Nagoya, Japan, 19/07/06. https://doi.org/10.1007/978-3-540-73890-9_7

Kinematic Compensation in Port-Hamiltonian Telemanipulation. / Secchi, C; Stramigioli, Stefano; Fantuzzi, C.
Proceedings of the 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC). IFAC, 2006. p. 99-110 (Lecture Notes in Control and Information Sciences; Vol. 366, No. 11).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

TY - GEN

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N2 - 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.

AB - 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.

KW - CE-Advanced Robotics

KW - EWI-12674

KW - METIS-248250

U2 - 10.1007/978-3-540-73890-9_7

DO - 10.1007/978-3-540-73890-9_7

M3 - Conference contribution

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T3 - Lecture Notes in Control and Information Sciences

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BT - Proceedings of the 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC)

PB - IFAC

T2 - 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNLC 2006

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