DocumentCode
1618224
Title
Passivity-based Synchronized Control of Teleoperation with Power Scaling
Author
Kawada, Hisanosuke ; Namerikawa, Toru
Author_Institution
Graduate Sch. of Natural Sci. & Technol., Kanazawa Univ.
fYear
2006
Firstpage
1838
Lastpage
1843
Abstract
This paper deals with the passivity-based synchronized control of teleoperation considering position tracking and power scaling. In the proposed method, the motion and the force relation between the master and slave robots can be specified freely. Using a passivity of the systems and Lyapunov stability methods, the asymptotic stability of teleoperation with communication delay and power scaling is proven. Several experimental results show the effectiveness of our proposed method
Keywords
Lyapunov methods; asymptotic stability; control system synthesis; telerobotics; Lyapunov stability method; asymptotic stability; master-slave robot; passivity-based synchronized control; position tracking; power scaling; teleoperation system; Asymptotic stability; Communication system control; Computer errors; Delay; Humans; Lyapunov method; Master-slave; Robot sensing systems; Scattering; Torque; Asymptotically stable; Passivity-based synchronized control; Power scaling; Teleoperation;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE-ICASE, 2006. International Joint Conference
Conference_Location
Busan
Print_ISBN
89-950038-4-7
Electronic_ISBN
89-950038-5-5
Type
conf
DOI
10.1109/SICE.2006.315799
Filename
4108982
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