Compensation of position errors in passivity based teleoperation over packet switched communication networks


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Secchi, C. and Stramigioli, S. and Fantuzzi, C. (2008) Compensation of position errors in passivity based teleoperation over packet switched communication networks. In: 17th IFAC World Congress, 5-12 July 2008, Seoul, Korea (pp. pp. 15648-15653).

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Abstract:Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance controller for compensating the steady state position error arising in free motion because of packets loss.
Item Type:Conference or Workshop Item
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/64881
Official URL:http://www.ifac-papersonline.net/Detailed/38328.html
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