In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest transparency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy balance which will ensure passivity and one for the haptic information between master and slave and which will address transparency. The authors believe that this structure is the most general up to date which preserves passivity under discrete time varying delays allowing different control schemes to address transparency.
Bridging the gap between passivity and transparency / M. Franken; S. Stramigioli; R. Reilink; C. Secchi; A. Macchelli. - STAMPA. - 5:(2009), pp. 289-296. (Intervento presentato al convegno RSS Robotics Conference tenutosi a University of Washington campus, Seattle, Washington nel June 28-July 1, 2009).
Bridging the gap between passivity and transparency
MACCHELLI, ALESSANDRO
2009
Abstract
In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest transparency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy balance which will ensure passivity and one for the haptic information between master and slave and which will address transparency. The authors believe that this structure is the most general up to date which preserves passivity under discrete time varying delays allowing different control schemes to address transparency.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
