Stable teleoperation with time domain passivity control

被引：0
|
作者：
Ryu, JH [1 ]
Kwon, DS [1 ]
Hannaford, B [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon 305701, South Korea
来源：
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002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：
A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of operating conditions. To guarantee the stability of a teleoperation system, a previously proposed energy-based method is extended to a two-port network. The issues in implementing the "Passivity Observer" and "Passivity Controller" to teleoperation systems are studied. The method is tested with our two-DOF master/slave teleoperation system. Totally stable teleoperation is achieved under conditions such as hard wall contact (stiffness > 150 kN/m) and hard surface following.
引用
收藏
页码：3260 / 3265
页数：6
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