Title :
The Problem of Packets Loss in Scaled Digital Port-Hamiltonian Based Bilateral Telemanipulation
Author :
Secchi, C. ; Stramigioli, S. ; Fantuzzi, C.
Author_Institution :
DISMI, Univ. of Modena & Reggio Emilia
Abstract :
The goal of this paper is to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy and a way to handle lost packets that allow power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets
Keywords :
control engineering computing; manipulators; packet switching; telecontrol; communication delay; discrete scattering communication; packet loss; packet switched network; power scaling; scaled digital port-Hamiltonian based bilateral telemanipulation; Communication channels; Communication switching; Communication system control; Delay; Impedance; Master-slave; Packet switching; Robot kinematics; Scattering; Telerobotics;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507145
