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Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation

Coelho, Andre and Ott, Christian and Singh, Harsimran and Lizarralde, Fernando and Kondak, Konstantin (2019) Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation. In: International Conference on Advanced Robotics, Proceedings, ICAR, pp. 695-701. IEEE. 19th International Conference on Advanced Robotics, 02-06 December 2019, Belo Horizonte, Brazil. doi: 10.1109/ICAR46387.2019.8981661.

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Official URL: https://ieeexplore.ieee.org/abstract/document/8981661


When, in addition to passivity, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the desired objective. This is due to an undesired effect caused by admittance type passivity controllers, namely position drift. Previous works focused on developing TDPA-based drift compensation methods to solve this issue. It was shown that, in addition to reducing drift, one of the proposed methods was able to keep the force signals within their normal range, guaranteeing the safety of the task. However, no multi-DoF treatment of those approaches has been addressed. In that scope, this paper focuses on providing an extension of previous TDPA-based approaches to multi-DoF Cartesian-space teleoperation. An analysis of the convergence properties of the presented method is also provided. In addition, its applicability to multi-DoF devices is shown through hardware experiments and numerical simulation with round-trip time delays up to 700 ms.

Item URL in elib:https://elib.dlr.de/132795/
Document Type:Conference or Workshop Item (Speech)
Title:Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Coelho, AndreUNSPECIFIEDhttps://orcid.org/0000-0002-0917-5574UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Singh, HarsimranUNSPECIFIEDhttps://orcid.org/0000-0002-6735-9945UNSPECIFIED
Date:December 2019
Journal or Publication Title:International Conference on Advanced Robotics, Proceedings, ICAR
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 695-701
Keywords:Passivity, drift compensation, multi-DoF
Event Title:19th International Conference on Advanced Robotics
Event Location:Belo Horizonte, Brazil
Event Type:international Conference
Event Dates:02-06 December 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: Singh, Harsimran
Deposited On:17 Dec 2019 09:10
Last Modified:14 Feb 2020 09:21

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