Title :
Digital passive geometric telemanipulation
Author :
Secchi, C. ; Stramigioli, S. ; Fantuzzi, C.
Author_Institution :
DISMI, Modena Univ., Reggio Emilia, Italy
Abstract :
In this paper we present an intrinsically passive telemanipulation scheme over a digital transmission line Internet-like. We present an analysis of the energetic behavior of the communication line both in case of loss of packages and in case of variable delay. The sample data nature of the passive controller is explicitly taken into account following the approach outlined.
Keywords :
Internet; delays; digital communication; manipulators; telecommunication transmission lines; telerobotics; Internet; communication line; digital passive geometric telemanipulation; digital transmission line; energetic behavior analysis; intrinsically passive telemanipulation; passive controller; variable delay; Communication channels; Communication system control; Control systems; Delay effects; Internet; Master-slave; Packaging; Power system interconnection; Scattering; Transmission line theory;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242098
