• DocumentCode
    2600516
  • Title

    Transparency in port-Hamiltonian based telemanipulation

  • Author

    Secchi, C. ; Stramigioli, S. ; Fantuzzi, C.

  • Author_Institution
    DISMI, Modena Univ., Reggio Emilia, Italy
  • fYear
    2005
  • fDate
    2-6 Aug. 2005
  • Firstpage
    1844
  • Lastpage
    1849
  • Abstract
    After stability, transparency is the major issue in the design of a telemanipulation system. In this paper we exploit a behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian based teleoperators. Furthermore we provide a transparency analysis of packet switching scattering based communication channels.
  • Keywords
    manipulators; packet switching; telecommunication channels; telerobotics; behavioral approach; communication channel; packet switching scattering; port-Hamiltonian based telemanipulation; port-Hamiltonian based teleoperator; transparency analysis; Communication channels; Communication system control; Delay; Impedance; Master-slave; Packet switching; Scattering; Stability; Teleoperators; Telerobotics; Telemanipulation; port-Hamiltonian systems; transparency;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
  • Print_ISBN
    0-7803-8912-3
  • Type

    conf

  • DOI
    10.1109/IROS.2005.1545405
  • Filename
    1545405
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2600516