Variable Delay in port-Hamiltonian Telemanipulation


Secchi, C. and Stramigioli, S. and Fantuzzi, C. (2006) Variable Delay in port-Hamiltonian Telemanipulation. In: Eighth International IFAC Symposium on Robot Control, 2006, September 6-8, 2006, Bologna, Italy.

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Abstract:In several applications involving bilateral telemanipulation, master and slave act at different power scales. In this paper a strategy for passively dealing with variable communication delay in scaled port-Hamiltonian based telemanipulation over packet switched networks is proposed.
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Electrical Engineering, Mathematics and Computer Science (EEMCS)
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