Title :
Transparency in Port-Hamiltonian-Based Telemanipulation
Author :
Secchi, Cristian ; Stramigioli, Stefano ; Fantuzzi, Cesare
Author_Institution :
Dipt. di Sci. e Metodi dell´´Ing., Univ. of Modena & Reggio Emilia, Modena
Abstract :
After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the 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; telerobotics; communication channels; packet switching; port-Hamiltonian-based telemanipulation; port-Hamiltonian-based teleoperators; telemanipulation system; Port-Hamiltonian systems; telemanipulation; transparency;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2008.924941
