Port-contact systems in bilateral telemanipulation

C Secchi; Stefano Stramigioli; C. Fantuzzi

Port-contact systems in bilateral telemanipulation

C Secchi, Stefano Stramigioli, C. Fantuzzi

Research output: Contribution to conference › Paper › peer-review

1 Citation (Scopus)

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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 language	Undefined
Pages	Paper 78
Number of pages	6
Publication status	Published - 2007
Event	7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007 - Pretoria, South Africa Duration: 22 Aug 2007 → 24 Aug 2007 Conference number: 7

Conference

Conference	7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007
Abbreviated title	NOLCOS
Country/Territory	South Africa
City	Pretoria
Period	22/08/07 → 24/08/07

Keywords

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

Access to Document

Secchi07port

Cite this

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title = "Port-contact systems in bilateral telemanipulation",

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",

year = "2007",

language = "Undefined",

pages = "Paper 78",

note = "7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007 ; Conference date: 22-08-2007 Through 24-08-2007",

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TY - CONF

T1 - Port-contact systems in bilateral telemanipulation

AU - Secchi, C

AU - Stramigioli, Stefano

AU - Fantuzzi, C.

N1 - Conference code: 7

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

T2 - 7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007

Y2 - 22 August 2007 through 24 August 2007

ER -