Title :
Passivity-based Synchronized Control of Teleoperation with Power Scaling
Author :
Kawada, Hisanosuke ; Namerikawa, Toru
Author_Institution :
Graduate Sch. of Natural Sci. & Technol., Kanazawa Univ.
Abstract :
This paper deals with the passivity-based synchronized control of teleoperation considering position tracking and power scaling. In the proposed method, the motion and the force relation between the master and slave robots can be specified freely. Using a passivity of the systems and Lyapunov stability methods, the asymptotic stability of teleoperation with communication delay and power scaling is proven. Several experimental results show the effectiveness of our proposed method
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; telerobotics; Lyapunov stability method; asymptotic stability; master-slave robot; passivity-based synchronized control; position tracking; power scaling; teleoperation system; Asymptotic stability; Communication system control; Computer errors; Delay; Humans; Lyapunov method; Master-slave; Robot sensing systems; Scattering; Torque; Asymptotically stable; Passivity-based synchronized control; Power scaling; Teleoperation;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315799
