Title :
Power scaling in port-Hamiltonian based telemanipulation
Author :
Secchi, C. ; Straimgioli, S. ; Fantuzzi, C.
Author_Institution :
DISMI, Modena Univ., Reggio Emilia, Italy
Abstract :
In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery). The aim of this paper is to embed power scaling into port-Hamiltonian based bilateral telemanipulation schemes, In order to deal with nonnegligible transmission delays we propose a novel scattering based communication strategy to properly scale the power exchanged by master and slave while preserving a stable behavior of the overall scheme.
Keywords :
manipulators; telerobotics; bilateral telemanipulation scheme; master-slave robot; port-Hamiltonian based telemanipulation; power scaling; robot behavior stability; scattering based communication strategy; transmission delay; Communication channels; Communication system control; Control systems; Delay; Master-slave; Power system interconnection; Robot control; Robot kinematics; Scattering; Telerobotics; Telemanipulation; port-Hamiltonian systems; power scaling;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545406
