DocumentCode :
670167
Title :
Time domain passivity based teleoperation applying bounded output controllers
Author :
Martori, Lorinc
Author_Institution :
Dept. of Electr. Eng., Sapientia-Univ. of Transylvania, Tirgu Mures, Romania
fYear :
2013
fDate :
19-21 Nov. 2013
Firstpage :
89
Lastpage :
94
Abstract :
This paper addresses the problem of stable bilateral teleoperation in the presence of communication delay by taking into consideration that the outputs of the controllers, which are applied to guarantee the passivity of the teleoperator, are bounded. The velocity and force signals in a teleoperation system are bounded due to the actuator saturation or artificial bounds can also be introduced for the safety and convenience of the human operator. The problem is treated in the time domain passivity approach. It is shown that the passivity of the bilateral teleoperation can be guaranteed with bounded control signals if the force and velocity signals that are sent over the communication channels are also bounded. Real-time experimental measurements were performed to demonstrate the efficiency of the presented method.
Keywords :
actuators; control nonlinearities; delay systems; safety; telerobotics; time-domain analysis; actuator saturation; artificial bounds; bilateral teleoperation stability; bounded output controllers; communication delay; human operator safety; time domain passivity approach; Actuators; Communication channels; Delays; Force; Robots; Time-domain analysis; Bilateral control; Passive Systems; Teleoperation; Time-Delay;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computational Intelligence and Informatics (CINTI), 2013 IEEE 14th International Symposium on
Conference_Location :
Budapest
Print_ISBN :
978-1-4799-0194-4
Type :
conf
DOI :
10.1109/CINTI.2013.6705170
Filename :
6705170
Link To Document :
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