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A modular passivity framework for multilateral teleoperation applications

Panzirsch, Michael and Artigas Esclusa, Jordi and Ferre, Manuel (2016) A modular passivity framework for multilateral teleoperation applications. RoboCity 16, 26.-27. Mai 2016, Madrid, Spanien.

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Abstract

In the past few years multilateral teleoperation systems that enable the interaction and coupling of several robotic devices gained in importance as this concept promises especially an increase of ergonomics and precision in teleoperation systems. The challenge in the control of such multi-robot setups is the generalization of the stability proof independent of the num-ber of robotic agents involved. Particularly in the presence of time delay in the communication channel the use of passivity control methods are wide-ly used in bilateral as well as multilateral systems. In literature it was shown that the passivity concept also provides a modular framework that allows for the generalization of stability proofs rendering a frequency-based analysis unnecessary. This paper provides an overview on the exist-ing framework modules and their application to different bilateral commu-nication architectures.

Item URL in elib:https://elib.dlr.de/105345/
Document Type:Conference or Workshop Item (Speech)
Title:A modular passivity framework for multilateral teleoperation applications
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Artigas Esclusa, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Ferre, Manuelm.ferre (at) upm.esUNSPECIFIED
Date:26 May 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:teleoperation, multilateral, passivity
Event Title:RoboCity 16
Event Location:Madrid, Spanien
Event Type:international Conference
Event Dates:26.-27. Mai 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:30 Nov 2016 09:22
Last Modified:31 Jul 2019 20:02

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