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A passive bilateral control scheme for a teleoperator with time-varying communication delay

Ryu, Jee-Hwan and Artigas, Jordi and Preusche, Carsten (2010) A passive bilateral control scheme for a teleoperator with time-varying communication delay. Mechatronics, 20 (7), pp. 812-823. Elsevier. DOI: 10.1016/j.mechatronics.2010.07.006. ISSN 0957-4158.

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Official URL: http://www.elsevier.com/ locate/mechatronics

Abstract

In this paper, a passive bilateral control scheme is proposed for a teleoperator with time-varying communication delay. Recently proposed two-port time-domain passivity approach (TDPA), which composed of Passivity Observer (PO) and Passivity Controller (PC), is extended. A set of sufficient conditions is derived, which satisfies the passivity of the two-port delayed network system, by separating the input and output energy at each port. This condition satisfies the passivity of the network system independent of the amount of delay, its variation and lost packet. Two PCs are designed at each port based on its causality to guarantee the passivity condition. In order to filter out the sudden force change of the PC, a passive virtual dynamic system, composed of virtual mass and spring, is inserted between the master and the PC. Even under a large time-delay with variation and communication blackout, the proposed approach can guarantee passive bilateral teleoperation.

Document Type:Article
Title:A passive bilateral control scheme for a teleoperator with time-varying communication delay
Authors:
AuthorsInstitution or Email of Authors
Ryu, Jee-HwanSchool of Mechanical Engineering, Korea University of Technology and Education, Cheoan-city 330-708, Republic of Korea
Artigas, JordiJordi.Artigas@dlr.de
Preusche, CarstenCarsten.Preusche@dlr.de
Date:October 2010
Journal or Publication Title:Mechatronics
Refereed publication:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:20
DOI:10.1016/j.mechatronics.2010.07.006
Page Range:pp. 812-823
Publisher:Elsevier
ISSN:0957-4158
Status:Published
Keywords:Teleoperation Bilateral control Time-delay Passivity Controller Passivity Observer Time-domain passivity
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: Carsten Preusche
Deposited On:21 Oct 2010 09:20
Last Modified:12 Dec 2013 21:03

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