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Network Representation and Passivity of Delayed Teleoperation Systems

Artigas, Jordi und Ryu, Jee-Hwan und Preusche, Carsten und Hirzinger, Gerd (2011) Network Representation and Passivity of Delayed Teleoperation Systems. In: Proceedings. IROS 2011, International Conference on Intelligent Robots and Systems, 25. - 30. Sept 2011, San Francisco, USA.

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Kurzfassung

The paper proposes a general network based analysis and design guidelines for teleoperation systems. The electrical domain is appealing because it enjoys proficient analysis and design tools and allows a one step higher abstraction element, the network. Thus, in order to analyze the system by means of network elements the mechanical system must be first modeled as an electric circuit. Only then power ports become apparent and networks can be defined. This kind of analysis has been previously performed in systems with well defined causalities, specially in the communication channel. Indeed, a communication channel exchanging flow-like and effort-like signals, as for instance velocity and computed force, has a well defined causality and can thus be directly mapped as a two-port electrical network. However, this is only one of the many possible system architectures. This paper investigates how other architectures, including those with ambiguous causalities, can be modeled by means of networks, even in the lack of flow or effort being transmitted, and how they can be made passive for any communication channel characteristic (delay, package-loss and jitter). The methods are exposed in the form of design guidelines sustained with an example and validated with experimental results.

Dokumentart:Konferenzbeitrag (Vortrag, Paper)
Titel:Network Representation and Passivity of Delayed Teleoperation Systems
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Artigas, JordiJordi.Artigas@dlr.de
Ryu, Jee-HwanKorean University
Preusche, CarstenCarsten.Preusche@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Datum:September 2011
Erschienen in:Proceedings
Referierte Publikation:Ja
In ISI Web of Science:Nein
Status:veröffentlicht
Stichwörter:Teleoperation Systems
Veranstaltungstitel:IROS 2011, International Conference on Intelligent Robots and Systems
Veranstaltungsort:San Francisco, USA
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:25. - 30. Sept 2011
Veranstalter :IEEE/RSJ
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 - RMC - Mechatronik und Telerobotik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Gabriele Beinhofer
Hinterlegt am:20 Jan 2012 12:43
Letzte Änderung:12 Dez 2013 21:34

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