Power scaling in port-Hamiltonian telemanipulation over packet switched networks

Secchi, Cristian and Stramigioli, Stefano and Fantuzzi, Cesare (2007) Power scaling in port-Hamiltonian telemanipulation over packet switched networks. In: Advances in Telerobotics. Springer tracts in advanced robotics, 31 . Springer Verlag, Heidelberg, pp. 233-256. ISBN 9783540713630

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Abstract:	In several important applications involving bilateral telemanipulation systems (e.g. macro-micro teleoperation, telesurgery) master and slave act at different power scales. In this contribution, we illustrate how to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy to scale the power exchanged between master and slave sides and a way to handle lost packets that allow to get power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets.
Item Type:	Book Section
Copyright:	© 2007 Springer
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/61914
Official URL:	http://dx.doi.org/10.1007/978-3-540-71364-7_15
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