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A peer-to-peer Trilateral Passivity Control for delayed collaborative Teleoperation

Panzirsch, Michael and Artigas, Jordi and Tobergte, Andreas (2012) A peer-to-peer Trilateral Passivity Control for delayed collaborative Teleoperation. EuroHaptics, 13-15. Juni 2012, Tampere, Finland.



In this paper a trilateral Multi-Master-Single-Slave-System with control authority allocation between two human operators is proposed. The authority coefficient permits to slide the dominant role between the operators. They can simultaneously execute a task in a collaborative way or a trainee might haptically only observe the task, while an expert is in full control. The master devices are connected with each other and the slave robot peer to peer without a central processing unit in a equitable way. The system design is general in that it allows delayed communication and different coupling causalities between masters and slave, which can be located far from each other. The Time Domain Passivity Control Approach guarantees passivity of the network in the presence of communication delays. The methods presented are sustained with simulations and experiments using different authority coefficients.

Item URL in elib:https://elib.dlr.de/80713/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:A peer-to-peer Trilateral Passivity Control for delayed collaborative Teleoperation
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Panzirsch, Michaelmichael.panzirsch (at) dlr.deUNSPECIFIED
Artigas, Jordijordi.artigas (at) dlr.deUNSPECIFIED
Tobergte, Andreasandreas.tobergte (at) dlr.deUNSPECIFIED
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:teleoperation, haptics, collaborative, trilateral, 3-port, n-port, time domain passivity, TDPA
Event Title:EuroHaptics
Event Location:Tampere, Finland
Event Type:international Conference
Event Dates:13-15. Juni 2012
Organizer:university of tampere
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik- Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Panzirsch, Michael
Deposited On:22 Jan 2013 15:54
Last Modified:31 Jul 2019 19:39

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