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Multilateral Control for Delayed Teleoperation

Panzirsch, Michael and Artigas, Jordi and Ryu, Jee-Hwan and Ferre, Manuel (2013) Multilateral Control for Delayed Teleoperation. In: 14th International Conference on Advanced Robotics. IEEE. ICAR 2013, 25.-29. Nov. 2013, Montevideo, Uruguay.

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Abstract

This paper explores the haptic interaction between various users collaborating in performing a manipulation of an environment through telerobotic systems. In this type of interactions, mechanical energy is simultaneously exchanged between the users and the object being manipulated. Moreover, agents can be physically located at high distances to each other as well as objects, resulting in non-neglectful time delays. A framework based on passivity is presented to allow stable designs and implementations of multi-user/robot interactions. The common Position-Force (PF) and Position-Position (PP) can be applied as links between two agents in the multilateral system in a modular way.

Item URL in elib:https://elib.dlr.de/86556/
Document Type:Conference or Workshop Item (Speech)
Title:Multilateral Control for Delayed Teleoperation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Panzirsch, Michaelmichael.panzirsch (at) dlr.deUNSPECIFIED
Artigas, JordiUNSPECIFIEDUNSPECIFIED
Ryu, Jee-HwanUNSPECIFIEDUNSPECIFIED
Ferre, ManuelUNSPECIFIEDUNSPECIFIED
Date:November 2013
Journal or Publication Title:14th International Conference on Advanced Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Publisher:IEEE
Status:Published
Keywords:teleoperation, training, multilateral, haptics, time delay, TDPA, telemanipulation, model mediated control, n-port, network
Event Title:ICAR 2013
Event Location:Montevideo, Uruguay
Event Type:international Conference
Event Dates:25.-29. Nov. 2013
Organizer:Universidad de la Republica del Uruguay, School of Engineering
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 - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Panzirsch, Michael
Deposited On:17 Dec 2013 14:05
Last Modified:09 Feb 2017 19:19

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