DocumentCode
1975955
Title
The Problem of Packets Loss in Scaled Digital Port-Hamiltonian Based Bilateral Telemanipulation
Author
Secchi, C. ; Stramigioli, S. ; Fantuzzi, C.
Author_Institution
DISMI, Univ. of Modena & Reggio Emilia
fYear
2005
fDate
28-31 Aug. 2005
Firstpage
322
Lastpage
327
Abstract
The goal of this paper is to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy and a way to handle lost packets that allow power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets
Keywords
control engineering computing; manipulators; packet switching; telecontrol; communication delay; discrete scattering communication; packet loss; packet switched network; power scaling; scaled digital port-Hamiltonian based bilateral telemanipulation; Communication channels; Communication switching; Communication system control; Delay; Impedance; Master-slave; Packet switching; Robot kinematics; Scattering; Telerobotics;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location
Toronto, Ont.
Print_ISBN
0-7803-9354-6
Type
conf
DOI
10.1109/CCA.2005.1507145
Filename
1507145
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