DocumentCode
2682550
Title
Implementation and experiments of passive set-position modulation for internet teleoperation and slow/varying-rate haptics
Author
Huang, Ke ; Lee, Dongjun
Author_Institution
Dept. of Mech., Aerosp. & Biomed. Eng., Univ. of Tennessee-Knoxville, Knoxville, TN, USA
fYear
2009
fDate
10-15 Oct. 2009
Firstpage
5615
Lastpage
5620
Abstract
In previous papers we proposed passive set- position modulation (PSPM) framework which enables us to connect continuous-time robot´s position to a sequence of discrete set-position signals via spring coupling with damping injection while enforcing passivity. In this paper we present experimental results to show its stability and performance. We will also discuss some practical implementation details.
Keywords
Internet; continuous time systems; control engineering computing; haptic interfaces; stability; telecontrol; Internet teleoperation; continuous-time robot position; damping injection; discrete set-position signals; passive set-position modulation; passivity; slow/varying-rate haptics; spring coupling; stability; Communication system control; Control systems; Damping; Delay effects; Haptic interfaces; Intelligent robots; Internet; Scattering; USA Councils; Virtual environment;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location
St. Louis, MO
Print_ISBN
978-1-4244-3803-7
Electronic_ISBN
978-1-4244-3804-4
Type
conf
DOI
10.1109/IROS.2009.5354297
Filename
5354297
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