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Bilateral Energy Transfer in Delayed Teleoperation on the Time Domain

Artigas, Jordi and Preusche, Carsten and Borghesan, Gianni and Melchiorri, Claudio (2008) Bilateral Energy Transfer in Delayed Teleoperation on the Time Domain. In: Proceedings, pp. 671-676. IEEE/ICRA International Conference on Robotics and Automation, 2008-05-19 - 2008-05-23, Pasadena, CA (USA).

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The time domain passivity framework is attracting interest as a method for granting stability in both telerobotics and haptic contexts; this paper employs this approach in order to introduce a novel concept, the Bilateral Energy Transfer for haptic telepresence. Loosely speaking, the Bilateral Energy Transfer is the straightforward transfer of energy between the two opposite sides of a teleoperation network, the master and slave robots. In an ideal telepresence scenario master and slave robots behave as rigid connected masses [1], and their power exchange is lossless; conversely, realistic scenarios include sources of energy leaks, i.e. elements that modify the power flows in the network. Moreover, if energy leaks have an active nature, they become source of instability for the system. This work isolates two sources of instability normally present in a teleoperation system, i.e. the delayed communication channel and robot velocity estimation based on digital position acquisition. These energy leaks are counterbalanced by two independent controllers, whose design is based on energetic consideration, and whose employment allows to achieve the Bilateral Energy Transfer. The presented arguments are sustained by simulations and experiments.

Item URL in elib:https://elib.dlr.de/55535/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Bilateral Energy Transfer in Delayed Teleoperation on the Time Domain
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Borghesan, GianniUniversità di BolognaUNSPECIFIEDUNSPECIFIED
Melchiorri, ClaudioUniversità di BolognaUNSPECIFIEDUNSPECIFIED
Date:19 May 2008
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 671-676
Keywords:teleoperation, telepresence, haptics, time delay, passivity, time domain passivity, wave variables
Event Title:IEEE/ICRA International Conference on Robotics and Automation
Event Location:Pasadena, CA (USA)
Event Type:international Conference
Event Dates:2008-05-19 - 2008-05-23
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: Artigas Esclusa, Jordi
Deposited On:30 Oct 2008
Last Modified:12 Dec 2013 20:33

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