Title :
Passivity based control for micro-teleoperation system
Author :
Boukhnifer, Moussa ; Ferreira, Antoine
Author_Institution :
Laboratoire Vision et Robotique, Orleans Univ., Bourges
Abstract :
In this paper, a bilateral controller for a microteleoperation system is presented using passivity approaches. We showed that the application of wave variable formalism allows the passivity of the system in spite of the communication delays between the master and the slave, the varying scaling factors and uncertainties of the microenvironment. Conditions on passivity/transparency are given for the micro teleoperation system. Finally, numerical simulation results are presented showing the stability-transparency performances of the resulting system with constant and variable time-delay
Keywords :
delays; microrobots; stability; telerobotics; bilateral control; communication delays; micro-teleoperation system; passivity based control; stability-transparency performances; time-delay; wave variable formalism; Control systems; Delay effects; Force control; Impedance; Manipulator dynamics; Numerical simulation; Propagation delay; Robust stability; Scattering; Uncertainty;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246303
