DocumentCode
2600533
Title
Power scaling in port-Hamiltonian based telemanipulation
Author
Secchi, C. ; Straimgioli, S. ; Fantuzzi, C.
Author_Institution
DISMI, Modena Univ., Reggio Emilia, Italy
fYear
2005
fDate
2-6 Aug. 2005
Firstpage
1850
Lastpage
1855
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;
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.2005.1545406
Filename
1545406
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