Time Domain Passivity Control-based telepresence with time delay

被引：18

作者：

Artigas, Jordi ^{[1
]}

Vilanova, Jordi ^{[1
]}

Preusche, Carsten ^{[1
]}

Hirzinger, Gerd ^{[1
]}

机构：

[1] German Aerosp Ctr, DLR, Inst Robot & Mechatron, Munich, Germany

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

D O I：

10.1109/IROS.2006.281914

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper analyses the Time Domain Passivity Control approach in the time-delayed telepresence context, and proposes a method which provides stable operation. The passivity controller for the two-port network which is created by the bilateral control and communication elements in [1] is shown to be not valid if a time delay is introduced in the communication channel. Classical stability analysis for the delayed system is presented and used as argument and benchmark for the proposed solution. Simulations and experimental results are discussed and compared with classical stability analysis.

引用

页码：4205 / +

页数：2

共 14 条

[1] BILATERAL CONTROL OF TELEOPERATORS WITH TIME-DELAY [J].

ANDERSON, RJ ;

SPONG, MW .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1989, 34 (05) :494-501

[2]

ARTIGASESCLUSA J, 2004, ROBOTIK 2004

[3] A DESIGN FRAMEWORK FOR TELEOPERATORS WITH KINESTHETIC FEEDBACK [J].

HANNAFORD, B .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1989, 5 (04) :426-434

[4]

Hirche S., 2004, Proceedings of the 2004 IEEE International Conference on Control Applications (IEEE Cat. No.04CH37596), P236, DOI 10.1109/CCA.2004.1387217

[5]

LAWRENCE DA, 1993, IEEE T ROBOTICS AUTO, V9

[6]

NIEMEYER G, 1996, THESIS MI

[7] A passivity based Cartesian impedance controller for flexible joint robots -: Part I:: Torque feedback and gravity compensation [J].

Ott, C ;

Albu-Schäffer, A ;

Kugi, A ;

Stramigioli, S ;

Hirzinger, G .

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, :2659-2665

[8]

PREUSCHE C, 2006, UNPUB ROBOTICS COMPO

[9]

Ryu JH, 2002, 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, P2115, DOI 10.1109/IRDS.2002.1041579

[10]

Ryu JH, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P3260, DOI 10.1109/ROBOT.2002.1013729

← 1 2 →