Stability of position-based bilateral telemanipulation systems by damping injection

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    Abstract

    In this paper two different approaches to guarantee stability of bilateral telemanipulation systems are discussed. Both approaches inject damping into the system to guarantee passivity of the interaction with the device in the presence of time delays in the communication channel. The first approach derives tuning rules for a fixed viscous damper, whereas the second approach employs modulated dampers based upon the measured energy exchange with the device and enforces passivity in the time domain. Furthermore, a theoretical minimum damping injection scheme is sketched that shows that the fixed damping approach is inherently conservative with respect to guaranteeing stability. Experimental results show that both the theoretical minimum damping scheme and a time domain passivity algorithm are successful in stabilizing the telemanipulation system for large time delays with lower gains of the damping elements than derived by the fixed damping injection approach. However, as damping is inherently present in the system, the fixed damping tuning rules can be used to identify if a time domain passivity algorithm is needed given boundary conditions on the actual time delays.
    Original languageUndefined
    Title of host publicationRobotics and Automation (ICRA), 2012 IEEE International Conference on
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages4300-4306
    Number of pages7
    ISBN (Print)978-1-4673-1404-6
    DOIs
    Publication statusPublished - 14 May 2012
    Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States
    Duration: 14 May 201218 May 2012

    Conference

    Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
    Abbreviated titleICRA
    CountryUnited States
    CitySt. Paul
    Period14/05/1218/05/12

    Keywords

    • EWI-22036
    • METIS-287926

    Cite this

    Franken, M. C. J., Misra, S., & Stramigioli, S. (2012). Stability of position-based bilateral telemanipulation systems by damping injection. In Robotics and Automation (ICRA), 2012 IEEE International Conference on (pp. 4300-4306). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/ICRA.2012.6224572