Networking Humans, Robots and Environments

by

Nak Y. Chong

DOI: 10.2174/97816080573131130101
eISBN: 978-1-60805-731-3, 2013
ISBN: 978-1-60805-732-0



Indexed in: EBSCO.

This book dives into the heart of how to design distributed control architectures for heterogeneous teams of humans, robots, and autom...[view complete introduction]
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STABLE TELEOPERATION WITH TIME DOMAIN PASSIVITY CONTROL

- Pp. 214-228 (15)

Jee-Hwan Ryu, Dong-Soo Kwon and Blake Hannaford

Abstract

A bilateral control scheme is introduced to ensure stable teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the ‚ÄúPassivity Observer‚ÄĚ and ‚ÄúPassivity Controller‚ÄĚ to teleoperation systems are studied. The method is tested with our two-DOF master/slave teleoperation system. Stable teleoperation is achieved under conditions such as hard wall contact (stiffness > 150 kN/m) and hard surface following.

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