Port-contact systems in bilateral telemanipulation

C Secchi, Stefano Stramigioli, C. Fantuzzi

    Research output: Contribution to conferencePaper

    34 Downloads (Pure)

    Abstract

    In this paper we develop one of the first control applications of the recently proposed port-contact framework. We show how it is possible to model and control a bilateral telemanipulation system using port-contact systems and we develop a port-contact impedance controller that allows to impose a desired interactive behavior and a zero steady state position error during contact tasks.
    Original languageUndefined
    PagesPaper 78
    Number of pages6
    Publication statusPublished - 2007
    Event7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007 - Pretoria, South Africa
    Duration: 22 Aug 200724 Aug 2007
    Conference number: 7

    Conference

    Conference7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007
    Abbreviated titleNOLCOS
    CountrySouth Africa
    CityPretoria
    Period22/08/0724/08/07

    Keywords

    • IR-71393
    • Non-linear control
    • EWI-17310
    • Telemanipulation
    • Passivity

    Cite this

    Secchi, C., Stramigioli, S., & Fantuzzi, C. (2007). Port-contact systems in bilateral telemanipulation. Paper 78. Paper presented at 7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007, Pretoria, South Africa.
    Secchi, C ; Stramigioli, Stefano ; Fantuzzi, C. / Port-contact systems in bilateral telemanipulation. Paper presented at 7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007, Pretoria, South Africa.6 p.
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    abstract = "In this paper we develop one of the first control applications of the recently proposed port-contact framework. We show how it is possible to model and control a bilateral telemanipulation system using port-contact systems and we develop a port-contact impedance controller that allows to impose a desired interactive behavior and a zero steady state position error during contact tasks.",
    keywords = "IR-71393, Non-linear control, EWI-17310, Telemanipulation, Passivity",
    author = "C Secchi and Stefano Stramigioli and C. Fantuzzi",
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    pages = "Paper 78",
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    Secchi, C, Stramigioli, S & Fantuzzi, C 2007, 'Port-contact systems in bilateral telemanipulation' Paper presented at 7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007, Pretoria, South Africa, 22/08/07 - 24/08/07, pp. Paper 78.

    Port-contact systems in bilateral telemanipulation. / Secchi, C; Stramigioli, Stefano; Fantuzzi, C.

    2007. Paper 78 Paper presented at 7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007, Pretoria, South Africa.

    Research output: Contribution to conferencePaper

    TY - CONF

    T1 - Port-contact systems in bilateral telemanipulation

    AU - Secchi, C

    AU - Stramigioli, Stefano

    AU - Fantuzzi, C.

    PY - 2007

    Y1 - 2007

    N2 - In this paper we develop one of the first control applications of the recently proposed port-contact framework. We show how it is possible to model and control a bilateral telemanipulation system using port-contact systems and we develop a port-contact impedance controller that allows to impose a desired interactive behavior and a zero steady state position error during contact tasks.

    AB - In this paper we develop one of the first control applications of the recently proposed port-contact framework. We show how it is possible to model and control a bilateral telemanipulation system using port-contact systems and we develop a port-contact impedance controller that allows to impose a desired interactive behavior and a zero steady state position error during contact tasks.

    KW - IR-71393

    KW - Non-linear control

    KW - EWI-17310

    KW - Telemanipulation

    KW - Passivity

    M3 - Paper

    SP - Paper 78

    ER -

    Secchi C, Stramigioli S, Fantuzzi C. Port-contact systems in bilateral telemanipulation. 2007. Paper presented at 7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007, Pretoria, South Africa.