Stable Teleoperation with Time Domain Passivity Control

Ryu, Jee-Hwan and Kwon, Dong-Soo and Hannaford, Blake (2004) Stable Teleoperation with Time Domain Passivity Control. IEEE Trans. on Robotics and Automation, 20 (2). pp. 365-373.

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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.

Item Type: Article
Subjects: B Teleoperation > B Teleoperation (General)
Divisions: Department of Electrical Engineering
Depositing User: Mohammad Haghighipanah
Date Deposited: 30 Jul 2015 17:58
Last Modified: 30 Jul 2015 17:58
URI: http://brl.ee.washington.edu/eprints/id/eprint/221

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