Title :
Transparency in port-Hamiltonian based telemanipulation
Author :
Secchi, C. ; Stramigioli, S. ; Fantuzzi, C.
Author_Institution :
DISMI, Modena Univ., Reggio Emilia, Italy
Abstract :
After stability, transparency is the major issue in the design of a telemanipulation system. In this paper we exploit a behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian based teleoperators. Furthermore we provide a transparency analysis of packet switching scattering based communication channels.
Keywords :
manipulators; packet switching; telecommunication channels; telerobotics; behavioral approach; communication channel; packet switching scattering; port-Hamiltonian based telemanipulation; port-Hamiltonian based teleoperator; transparency analysis; Communication channels; Communication system control; Delay; Impedance; Master-slave; Packet switching; Scattering; Stability; Teleoperators; Telerobotics; Telemanipulation; port-Hamiltonian systems; transparency;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545405
