In several important applications involving bilateral telemanipulation systems (e.g. macro-micro teleoperation, telesurgery) master and slave act at different power scales. In this contribution, we illustrate how to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy to scale the power exchanged between master and slave sides and a way to handle lost packets that allow to get power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets.
|Title of host publication||Advances in Telerobotics|
|Editors||M. Ferre, M. Buss, R. Aracil, C. Melchiorri, C. Balaguer|
|Place of Publication||Heidelberg|
|Number of pages||24|
|Publication status||Published - Jan 2007|
|Name||Springer tracts in advanced robotics|