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Network Representation and Passivity of Delayed Teleoperation Systems

Artigas, Jordi and Ryu, Jee-Hwan and Preusche, Carsten and 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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Abstract

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.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Network Representation and Passivity of Delayed Teleoperation Systems
Authors:
AuthorsInstitution or Email of Authors
Artigas, JordiJordi.Artigas@dlr.de
Ryu, Jee-HwanKorean University
Preusche, CarstenCarsten.Preusche@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:September 2011
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Teleoperation Systems
Event Title:IROS 2011, International Conference on Intelligent Robots and Systems
Event Location:San Francisco, USA
Event Type:international Conference
Event Dates:25. - 30. Sept 2011
Organizer:IEEE/RSJ
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 - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:20 Jan 2012 12:43
Last Modified:12 Dec 2013 21:34

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