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Bilateral Energy Transfer for high fidelity haptic telemanipulation

Artigas, Jordi und Preusche, Carsten und Hirzinger, Gerd und Borghesan, Gianni und Melchiorri, Claudio (2009) Bilateral Energy Transfer for high fidelity haptic telemanipulation. In: Proceedings of World Haptics. Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 18.-20.März 2009, Lake City, Utah, USA.

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Among the methods to grant the stability of a telemanipulation system, the bilateral time domain passivity framework has the appealing characteristic to consider both, force and velocity signals exchanged between master and slave systems, and the power introduced or dissipated by the elements that compose the telemanipulation system. In previous works, [2, 3], it has been shown how the bilateral passivity controller (BiPC) can preserve stability when the communication channel that conveys data between master and slave is affected by delay. In this work the authors intend to further explore the possibilities offered by the Bilateral Energy Transfer concept as design guideline, and to refine the control schemes already discussed in [3]. The underlying idea of the Bilateral Energy Transfer is to achieve a transport of energy between the two sides of the real system as faithful to an “ideal” (not delayed) system as allowed by the energy leaks. As energy leak is meant the behavior introduced by the not ideality of some components, such as the communication channel. At the same time, in order to obtain easy-to-use system, the control system must preserve, in some extend, the force, velocity, and position correspondences between master and slave. In order to achieve this goal, a modified version of passivity controller is presented. Its main characteristic is that its correction action aimed at dissipating energy, regarded as generated by energy leaks, is limited and deferred in time. Moreover, a drift compensator is introduced whose role is to solve a drift in position introduced by the operation of the same BiPC; in order to maintain the whole system passive, the action of this controller is bounded to the amount of energy that has been dissipated in excess by the BiPC.

Dokumentart:Konferenzbeitrag (Vortrag, Paper)
Titel:Bilateral Energy Transfer for high fidelity haptic telemanipulation
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iD
Artigas, Jordijordi.artigas@DLR.deNICHT SPEZIFIZIERT
Preusche, CarstenCarsten.Preusche@DLR.deNICHT SPEZIFIZIERT
Hirzinger, GerdGerd.Hirzinger@dlr.deNICHT SPEZIFIZIERT
Borghesan, GianniUniversità di BolognaNICHT SPEZIFIZIERT
Melchiorri, ClaudioUniversità di BolognaNICHT SPEZIFIZIERT
Datum:18 März 2009
Erschienen in:Proceedings of World Haptics
Referierte Publikation:Ja
In Open Access:Nein
In ISI Web of Science:Nein
Stichwörter:Teleoperation, Telepresence, Haptics, Passivity, Wave Variables, Time Delay, Time Domain Passivity, Bilateral Control
Veranstaltungstitel:Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Veranstaltungsort:Lake City, Utah, USA
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:18.-20.März 2009
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme
Hinterlegt von: Beinhofer, Gabriele
Hinterlegt am:07 Apr 2010 08:25
Letzte Änderung:12 Dez 2013 20:56

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