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Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation

Panzirsch, Michael and 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, 9.-11. September 2019, Sinaia, Romania. doi: 10.1016/j.ifacol.2019.12.202.

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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.

Item URL in elib:https://elib.dlr.de/131956/
Document Type:Conference or Workshop Item (Speech)
Title:Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Panzirsch, MichaelUNSPECIFIEDhttps://orcid.org/0000-0002-0647-7147UNSPECIFIED
Balachandran, RibinUNSPECIFIEDhttps://orcid.org/0000-0002-7560-471XUNSPECIFIED
Date:9 September 2019
Journal or Publication Title:IFAC Proceedings Volumes (IFAC-PapersOnline)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Scaling, Time Delay, Teleoperation, Time Domain Control
Event Title:IFAC Workshop on Time Delay Systems
Event Location:Sinaia, Romania
Event Type:international Conference
Event Dates:9.-11. September 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Telerobotics (old)
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:13 Dec 2019 10:05
Last Modified:20 Jul 2023 13:14

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