Power scaling in port-Hamiltonian telemanipulation over packet switched networks

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

    Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

    4 Citations (Scopus)

    Abstract

    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.
    Original languageUndefined
    Title of host publicationAdvances in Telerobotics
    EditorsM. Ferre, M. Buss, R. Aracil, C. Melchiorri, C. Balaguer
    Place of PublicationHeidelberg
    PublisherSpringer
    Pages233-256
    Number of pages24
    ISBN (Print)978-3-540-71363-0
    DOIs
    Publication statusPublished - Jan 2007

    Publication series

    NameSpringer tracts in advanced robotics
    PublisherSpringer Verlag
    NumberLNCS4549/31
    Volume31
    ISSN (Print)1610-7438

    Keywords

    • EWI-11053
    • IR-61914
    • METIS-241909

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