Port-contact systems in bilateral telemanipulation

C Secchi, Stefano Stramigioli, C. Fantuzzi

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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.
    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

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