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
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;
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
DOI :
10.1109/IROS.2009.5354297
