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The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach with Preservation of Physical Coupling Behavior

Panzirsch, Michael and Singh, Harsimran and 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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Abstract

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.

Item URL in elib:https://elib.dlr.de/135591/
Document Type:Article
Title:The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach with Preservation of Physical Coupling Behavior
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Singh, Harsimranharsimran.singh (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:23 July 2020
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1109/LRA.2020.3010727
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Telerobotics and Teleoperation, Haptics and Haptic Interfaces, Networked Robots
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:03 Aug 2020 09:46
Last Modified:03 Aug 2020 09:46

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