Panzirsch, Michael und Singh, Harsimran und Ott, Christian (2020) The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach with Preservation of Physical Coupling Behavior. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.3010727. ISSN 2377-3766.
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Kurzfassung
Instability due to delayed communication is one of the main challenges in the coupling of autonomous robots but also in teleoperation with applications reaching from space to tele-healthcare scenarios. The Time Domain Passivity Approach assures stability despite delay and has already been validated in teleoperation scenarios from the International Space Station. It has been improved by a method considering energy reflection of the coupling controller recently. This extension has been shown to provide better performance in terms of position tracking and transmitted impedances which promises increased transparency for a human operator. This paper presents the 6-DoF implementation of the energy-reflection based approach and of an extended gradient method which promises to maintain the physical coupling behavior despite delay. An intense experimental validation confirms the performance increase due to both methods at delays up to 600ms in the 6-DoF case.
elib-URL des Eintrags: | https://elib.dlr.de/135591/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach with Preservation of Physical Coupling Behavior | ||||||||||||||||
Autoren: |
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Datum: | 23 Juli 2020 | ||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/LRA.2020.3010727 | ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Telerobotics and Teleoperation, Haptics and Haptic Interfaces, Networked Robots | ||||||||||||||||
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: | 03 Aug 2020 09:46 | ||||||||||||||||
Letzte Änderung: | 24 Okt 2023 12:48 |
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