Title :
Position Drift Compensation in Port-Hamiltonian Based Telemanipulation
Author :
Secchi, Cristian ; Stramigioli, Stefano ; Fantuzzi, Cesare
Author_Institution :
DISMI, Modena Univ.
Abstract :
Passivity based bilateral telemanipulation schemes are often subject to a position drift between master and slave if the communication channel is implemented using scattering variables. The magnitude of this position mismatch can be significant during interaction tasks. In this paper we propose a passivity preserving scheme for compensating the position drift arising during contact tasks in port-Hamiltonian based telemanipulation improving the kinematic perception of the remote environment felt by the human operator
Keywords :
compensation; manipulator kinematics; position control; telerobotics; kinematic perception; passivity based bilateral telemanipulation; port-Hamiltonian based telemanipulation; position drift compensation; Communication channels; Communication system control; Control systems; Delay; Humans; Kinematics; Master-slave; Robots; Scattering; Shape control;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281915