Digital passive geometric telemanipulation

In this paper we present an intrinsically passive telemanipulation scheme over a digital transmission line Internet-like. We present an analysis of the energetic behavior of the communication line both in case of loss of packages and in case of variable delay. The sample data nature of the passive controller is explicitly taken into account following the approach outlined.

[1]  Stefano Stramigioli,et al.  About the Use of Port Concepts for Passive Geometric Telemanipulation with Varying Time Delays , 2002 .

[2]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1988, Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics.

[3]  Claudio Melchiorri,et al.  A Comparison of Control Schemes for Teleoperation with Time Delay , 2001 .

[4]  O. Gonzalez Time integration and discrete Hamiltonian systems , 1996 .

[5]  Karsten P. Ulland,et al.  Vii. References , 2022 .

[6]  Stefano Stramigioli,et al.  Modeling and IPC Control of Interactive Mechanical Systems - A Coordinate-Free Approach , 2001 .

[7]  Arjan van der Schaft,et al.  A novel theory for sampled data system passivity , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Arjan van der Schaft,et al.  Geometric scattering in robotic telemanipulation , 2002, IEEE Trans. Robotics Autom..

[9]  Jean-Jacques E. Slotine,et al.  Stable Adaptive Teleoperation , 1990, 1990 American Control Conference.

[10]  Stefano Stramigioli,et al.  A Novel Theory for Sample Data Systems , 2002 .

[11]  Stefano Stramigioli,et al.  Geometric grasping and telemanipulation , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).