Title :
Dealing with unreliabilities in digital passive geometric telemanipulation
Author :
Secchi, C. ; Stramigioli, S. ; Fantuzzi, C.
Author_Institution :
DISMI, Modena Univ., Reggio Emilia, Italy
Abstract :
In this paper two problems arising in the digital passive scheme for telemanipulation presented in are addressed. At first, we show how to preserve system passivity in presence of quantization error introduced by position sensor (i.e. encoders) by introducing energy dissipation. Then, we introduce a scheme for a redundant communication channel that will compensate for missed packets improving performances while preserving passivity of the overall scheme.
Keywords :
manipulators; position control; quantisation (signal); telerobotics; digital passive geometric telemanipulation; encoders; energy dissipation; missed packets; position sensor; quantization error; redundant communication channel; system passivity; unreliabilities; Communication channels; Communication system control; Delay effects; Energy dissipation; Master-slave; Propagation losses; Quantization; Reflection; Scattering; Sensor systems;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249298
