DocumentCode
2244895
Title
Digital passive geometric telemanipulation
Author
Secchi, C. ; Stramigioli, S. ; Fantuzzi, C.
Author_Institution
DISMI, Modena Univ., Reggio Emilia, Italy
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
3290
Abstract
In this paper we present an intrinsically passive telemanipulation scheme over a digital transmission line Internet-like. We present an analysis of the energetic behavior of the communication line both in case of loss of packages and in case of variable delay. The sample data nature of the passive controller is explicitly taken into account following the approach outlined.
Keywords
Internet; delays; digital communication; manipulators; telecommunication transmission lines; telerobotics; Internet; communication line; digital passive geometric telemanipulation; digital transmission line; energetic behavior analysis; intrinsically passive telemanipulation; passive controller; variable delay; Communication channels; Communication system control; Control systems; Delay effects; Internet; Master-slave; Packaging; Power system interconnection; Scattering; Transmission line theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242098
Filename
1242098
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