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Time Domain Passivity Control Based Telepresence with Time Delay.
Artigas, Jordi and Vilanova, Jordi and Preusche, Carsten and Hirzinger, Gerhard (2006) Time Domain Passivity Control Based Telepresence with Time Delay. In: Proceedings, pp. 4205-4210. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.
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Abstract
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.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||
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| Title: | Time Domain Passivity Control Based Telepresence with Time Delay. | ||||||||||
| Authors: |
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| Date: | 09 October 2006 | ||||||||||
| Journal or Publication Title: | Proceedings | ||||||||||
| Refereed publication: | Yes | ||||||||||
| In ISI Web of Science: | No | ||||||||||
| Page Range: | pp. 4205-4210 | ||||||||||
| Publisher: | IEEE/IROS International Conference on Intelligent Robots and Systems | ||||||||||
| Status: | Published | ||||||||||
| Keywords: | Time Domain Passivity Control, Telepresence, Time Delay | ||||||||||
| Event Title: | RSJ | ||||||||||
| Event Location: | Beijing, China | ||||||||||
| Event Type: | international Conference | ||||||||||
| Event Dates: | 2006-10-09 - 2006-10-15 | ||||||||||
| Organizer: | IEEE | ||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||
| HGF - Program: | Space | ||||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||||
| DLR - Research area: | Space | ||||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||||
| DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old) | ||||||||||
| Location: | Oberpfaffenhofen | ||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > Robotic Systems | ||||||||||
| Deposited By: | Gabriele Beinhofer | ||||||||||
| Deposited On: | 28 Oct 2008 | ||||||||||
| Last Modified: | 14 Jan 2010 23:37 |
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- Time Domain Passivity Control Based Telepresence with Time Delay. (deposited 28 Oct 2008) [Currently Displayed]
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