Port-contact systems in bilateral telemanipulation

Secchi, C. and Stramigioli, S. and Fantuzzi, C. (2007) Port-contact systems in bilateral telemanipulation. In: Seventh IFAC Symposium on Nonlinear Control Systems, August 22-24, 2007, Pretoria, Gauteng, South Africa.

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Abstract:	In this paper we develop one of the first control applications of the recently proposed port-contact framework. We show how it is possible to model and control a bilateral telemanipulation system using port-contact systems and we develop a port-contact impedance controller that allows to impose a desired interactive behavior and a zero steady state position error during contact tasks.
Item Type:	Conference or Workshop Item
Copyright:	© 2007 IFAC
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/71393
Official URL:	http://www.ifac-papersonline.net/Detailed/38482.html
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