Passivity of Delayed Bilateral Teleoperation of Mobile Robots with Ambiguous Causalities: Time Domain Passivity Approach

被引：0
|
作者：
Ha Van Quang [1 ]
Farkhatdinov, Ildar [2 ]
Ryu, Jee-Hwan [1 ]
机构：
[1] Korea Univ Technol & Educ KOREATECH, Sch Mech Engn, BioRobot Lab, Cheonan, South Korea
[2] Univ Paris 06, Inst Syst Intelligent Robot, UMR 7222, Paris, France
来源：
2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Rate mode commanding together with obstacle based force feedback makes mobile robot teleoperation difficult to stabilize even without time-delay. This paper proposes a method for stable time-delayed teleoperation of a mobile robot. Rate mode teleoperation with three different types of force feedback is considered to develop generally applicable method. We reformulate mobile robot bilateral teleoperation architecture based on recently proposed Time Delayed Power Network framework. It allows clarifying ambiguous energy ports and makes it possible to implement Time Domain Passivity Approach in order to secure the system stability. Experimental results show the effectiveness of the proposed formulation for a mobile robot teleoperation with time-delay.
引用
收藏
页码：2635 / 2640
页数：6
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