Panzirsch, Michael und Balachandran, Ribin (2019) Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation. In: IFAC Proceedings Volumes (IFAC-PapersOnline). IFAC Workshop on Time Delay Systems, 2019-09-09 - 2019-09-11, Sinaia, Romania. doi: 10.1016/j.ifacol.2019.12.202.
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Kurzfassung
Scaling of motion and forces has always been of high relevance in teleoperation setups since it allows the adaptation of workspaces of master and slave devices or to increase precision. Teleoperation setups are often affected by a delay in the communication channel. Most state of the art control approaches that guarantee stability despite delay are based on the passivity criterion which is highly restrictive to standard scaling methods. This paper proposes different time domain control concepts that regulate the motion or force scaling based on the energy flow in delayed teleoperation systems. The approach focuses on setups with motion down-scaling and is applicable to variable motion and impedance scaling. The scaling control is integrated in a state of the art time delay control concept and its performance is analyzed in experiments.
elib-URL des Eintrags: | https://elib.dlr.de/131956/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
Titel: | Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation | ||||||||||||
Autoren: |
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Datum: | 9 September 2019 | ||||||||||||
Erschienen in: | IFAC Proceedings Volumes (IFAC-PapersOnline) | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Nein | ||||||||||||
DOI: | 10.1016/j.ifacol.2019.12.202 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Scaling, Time Delay, Teleoperation, Time Domain Control | ||||||||||||
Veranstaltungstitel: | IFAC Workshop on Time Delay Systems | ||||||||||||
Veranstaltungsort: | Sinaia, Romania | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 9 September 2019 | ||||||||||||
Veranstaltungsende: | 11 September 2019 | ||||||||||||
Veranstalter : | IFAC | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Telerobotik (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||
Hinterlegt von: | Panzirsch, Michael | ||||||||||||
Hinterlegt am: | 13 Dez 2019 10:05 | ||||||||||||
Letzte Änderung: | 24 Apr 2024 20:35 |
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