Stable Teleoperation with Time Domain Passivity Control

Ryu, J.H. and Kwon, D.S. and Hannaford, B. (2002) Stable Teleoperation with Time Domain Passivity Control. In: IEEE Intl. Conference on Robotics and Automation, ICRA 2002.

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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.

Item Type: Conference or Workshop Item (Paper)
Subjects: B Teleoperation > B Teleoperation (General)
Divisions: Department of Electrical Engineering
Depositing User: Nava Aghdasi
Date Deposited: 12 Aug 2015 20:15
Last Modified: 12 Aug 2015 20:15
URI: http://brl.ee.washington.edu/eprints/id/eprint/248

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