| |
|
|
|
|
|
|
|
|
|
|
|
| |
|
|
|
[172] Citation: Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford,
'Stable Teleoperation with Time Domain Passivity Control,'
IEEE Trans. on Robotics and Automation, vol. 20, pp. 365-373, April, 2004.
Abstract
A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of
operating conditions. System stability is analyzed in terms of the time domain definition of
passivity. A previously proposed energy-based method is extended to a 2-port network, and 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.
Stable teleoperation is achieved under conditions such as hard wall contact (stiffness > 150 kN/m)
and hard surface following.
["I would like a hard copy of this report"]
[Copyright]
[HELP!]
Updated: Tue Jul 15 23:54:51 2008
| |
