Singh, Harsimran und Panzirsch, Michael und Coelho, Andre und Ott, Christian (2020) Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance. IEEE Robotics and Automation Letters, 5 (4), Seiten 6599-6606. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.3013860. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/abstract/document/9173868
Kurzfassung
The application of the position-position architecture for enabling position synchronization of two robotic agents has been proven effective in the fields of telemanipulation and rendezvous of autonomous vehicles. Nevertheless, the approaches presented to this date with the purpose of rendering the position-position architecture passive under the presence of time-delays and packet-loss are only partially able to fulfil that goal. This owes to the fact that they mostly focus on passivating the system, at the cost of transparency. Such an issue becomes even more critical in the presence of position drift caused by most passivation methods. This letter presents a novel control approach that enhances the position synchronization of agents suffering from delayed coupling, by introducing a local proxy reference to one of the agents and only closing the feedback loop when it can preserve stability. The concept is free of position drift and promises less conservatism, without having any prior information about system parameters or prior assumptions regarding time-delay. It has been experimentally validated for time-varying round-trip delays of up to 2 s.
elib-URL des Eintrags: | https://elib.dlr.de/194828/ | ||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
Titel: | Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance | ||||||||||||||||||||
Autoren: |
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Datum: | 21 August 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 | ||||||||||||||||||||
Band: | 5 | ||||||||||||||||||||
DOI: | 10.1109/LRA.2020.3013860 | ||||||||||||||||||||
Seitenbereich: | Seiten 6599-6606 | ||||||||||||||||||||
Herausgeber: |
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Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
Name der Reihe: | IEEE Robotics and Automation Letters | ||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Telerobotics and teleoperation, physical humanrobot interaction, robust/adaptive control of robotic systems, haptics and haptic interfaces. | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Telerobotik | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Singh, Harsimran | ||||||||||||||||||||
Hinterlegt am: | 26 Apr 2023 16:23 | ||||||||||||||||||||
Letzte Änderung: | 26 Apr 2023 16:23 |
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