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Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance

Singh, Harsimran and Panzirsch, Michael and Coelho, Andre and Ott, Christian (2020) Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance. IEEE Robotics and Automation Letters, 5 (4), pp. 6599-6606. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.3013860. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/abstract/document/9173868


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.

Item URL in elib:https://elib.dlr.de/194828/
Document Type:Article
Title:Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Panzirsch, MichaelUNSPECIFIEDhttps://orcid.org/0000-0002-0647-7147UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:21 August 2020
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 6599-6606
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE Robotics and Automation Letters
Keywords:Telerobotics and teleoperation, physical humanrobot interaction, robust/adaptive control of robotic systems, haptics and haptic interfaces.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics
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:26 Apr 2023 16:23
Last Modified:26 Apr 2023 16:23

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