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Time Domain Passivity Control Based Telepresence with Time Delay.

Artigas, Jordi and Vilanova, Jordi and Preusche, Carsten and Hirzinger, Gerhard (2006) Time Domain Passivity Control Based Telepresence with Time Delay. In: Proceedings, pp. 4205-4210. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.

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Abstract

This paper analyses the Time Domain Passivity Control approach in the time-delayed telepresence context, and proposes a method which provides stable operation. The passivity controller for the two-port network which is created by the bilateral control and communication elements in [1] is shown to be not valid if a time delay is introduced in the communication channel. Classical stability analysis for the delayed system is presented and used as argument and benchmark for the proposed solution. Simulations and experimental results are discussed and compared with classical stability analysis.

Item URL in elib:https://elib.dlr.de/45165/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Time Domain Passivity Control Based Telepresence with Time Delay.
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Artigas, JordiUNSPECIFIEDUNSPECIFIED
Vilanova, JordiUNSPECIFIEDUNSPECIFIED
Preusche, CarstenUNSPECIFIEDUNSPECIFIED
Hirzinger, GerhardUNSPECIFIEDUNSPECIFIED
Date:9 October 2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 4205-4210
Publisher:IEEE/IROS International Conference on Intelligent Robots and Systems
Status:Published
Keywords:Time Domain Passivity Control, Telepresence, Time Delay
Event Title:RSJ
Event Location:Beijing, China
Event Type:international Conference
Event Dates:2006-10-09 - 2006-10-15
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:28 Oct 2008
Last Modified:31 Jul 2019 19:18

Available Versions of this Item

  • Time Domain Passivity Control Based Telepresence with Time Delay. (deposited 28 Oct 2008) [Currently Displayed]

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