Stability of position-based bilateral telemanipulation systems by damping injection

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

4 Citations (Scopus)

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
Franken, M.C.J. ; Misra, Sarthak ; Stramigioli, Stefano. / Stability of position-based bilateral telemanipulation systems by damping injection. Robotics and Automation (ICRA), 2012 IEEE International Conference on. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2012. pp. 4300-4306
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title = "Stability of position-based bilateral telemanipulation systems by damping injection",
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.",
keywords = "EWI-22036, METIS-287926",
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isbn = "978-1-4673-1404-6",
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Franken, MCJ, 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. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 4300-4306, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 , St. Paul, United States, 14/05/12. https://doi.org/10.1109/ICRA.2012.6224572

Stability of position-based bilateral telemanipulation systems by damping injection. / Franken, M.C.J.; Misra, Sarthak; Stramigioli, Stefano.

Robotics and Automation (ICRA), 2012 IEEE International Conference on. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2012. p. 4300-4306.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

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T1 - Stability of position-based bilateral telemanipulation systems by damping injection

AU - Franken, M.C.J.

AU - Misra, Sarthak

AU - Stramigioli, Stefano

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Y1 - 2012/5/14

N2 - 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.

AB - 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.

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