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[154] Citation: J.H. Ryu, D.S. Kwon, B. Hannaford,
'Stable Teleoperation with Time Domain Passivity Control,'
IEEE Intl. Conference on Robotics and Automation, ICRA 2002, pp. 3260-3265, Washington, DC, May 2002.
Abstract
A new bilateral control scheme is proposed to ensure stable
teleoperation under a wide variety of operating conditions. To
guarantee the stability of a teleoperation system, a previously
proposed energy-based method is extended to a two-port network. The
issues in implementing the Passivity Observer and Passivity
Controller to teleoperation systems are studied. The method is tested
with our two-DOF master/slave teleoperation system. Totally stable
teleoperation is achieved under conditions such as hard wall contact
(stiffness > 150 kN/m) and hard surface following.
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Updated: Tue Jul 15 23:54:51 2008
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