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Online Passive Reconstruction -Based Bilateral Control under Time-Varying Communication Delay and Packet-Loss

Hosseini, Ali and Artigas,, Jordi and Preusche, Carsten and Brunberg, Anja and Hirzinger, Gerd (2008) Online Passive Reconstruction -Based Bilateral Control under Time-Varying Communication Delay and Packet-Loss. In: Proceedings. 5th International Conference on Enactive Interfaces, ENACTIVE, 19. - 21. Nov. 2008, Pisa, Italy .

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Abstract

In force reflecting teleoperation systems, master and slave mechanisms are connected through a communication means to exchange information. Most communication channels induce time delays which make the control design process difficult from the stability point of view. The wave variable method introduced in the mid-90’s, based on the theory of passivity, ensures the passivity of the communication block in presence of arbitrary constant time delays. This paper demonstrates that in channels with timevarying delays and data-loss (typical for the Internet and satellite radio communication links), the passivity of the channel using the basic wave variable method cannot be guaranteed. Modifications are applied to this method to cope with the effect of data-loss and variations of delay to provide the passivity framework for stability proof. The method is implemented on two 7 degrees of freedom DLR–LWR robots. The test results are presented and show the effectiveness of our method.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Online Passive Reconstruction -Based Bilateral Control under Time-Varying Communication Delay and Packet-Loss
Authors:
AuthorsInstitution or Email of Authors
Hosseini, AliUNSPECIFIED
Artigas,, JordiJordi.Artigas@dlr.de
Preusche, CarstenCarsten.Preusche@dlr.de
Brunberg, AnjaUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:19 November 2008
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Teleoperation, Telepresence, Haptics, Wave Variables, Time Delay, Bilateral Control, Passivity
Event Title:5th International Conference on Enactive Interfaces, ENACTIVE
Event Location:Pisa, Italy
Event Type:international Conference
Event Dates:19. - 21. Nov. 2008
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
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:07 Apr 2010 08:34
Last Modified:07 Apr 2010 08:34

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