Bridging the gap between passivity and transparency


Franken, Michel and Stramigioli, Stefano and Reilink, Rob and Secchi, Cristian and Macchelli, Alessandro (2009) Bridging the gap between passivity and transparency. In: Robotics: Science and Systems V, 28 June - 1 July, 2009, Seattle, Washington, USA.

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Abstract:In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest trans- parency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy balance which will ensure passivity and one for the haptic information between master and slave and which will address transparency. The authors believe that this structure is the most general up to date which preserves passivity under discrete time varying delays allowing different control schemes to address transparency.
Item Type:Conference or Workshop Item
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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