Position Drift Compensation in Port-Hamiltonian Based Telemanipulation

Secchi, Cristian and Stramigioli, Stefano and Fantuzzi, Cesare (2006) Position Drift Compensation in Port-Hamiltonian Based Telemanipulation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, October 9-15, 2006, Beijing, China.

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Abstract:	Passivity based bilateral telemanipulation schemes are often subject to a position drift between master and slave if the communication channel is implemented using scattering variables. The magnitude of this position mismatch can be significant during interaction tasks. In this paper we propose a passivity preserving scheme for compensating the position drift arising during contact tasks in port-Hamiltonian based telemanipulation improving the kinematic perception of the remote environment felt by the human operator
Item Type:	Conference or Workshop Item
Copyright:	© 2006 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/62284
Official URL:	http://dx.doi.org/10.1109/IROS.2006.281915
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