Name
Title | ||
|---|---|---|
Bilateral telemanipulation: Improving the complementarity of the frequency- and time-domain passivity approaches |
Abstract | ||
|---|---|---|
Passivity of bilateral telemanipulation systems ensures stability of the interaction with such systems. In the frequency domain, passivity of a linear time invariant approximation of the system can be designed for a considered set of operating conditions. Non-linear control structures have been proposed that enforce passivity of the system in the time domain. In this paper, extensions are proposed that increase the complimentarity of the frequency- and time domain approaches. The combination of both approaches allows a guaranteed measure of transparency to be designed in the frequency domain for a desired set of operating conditions. For operating conditions outside the desired set, stable interaction is guaranteed by the non-linear passivity enforcing control structure. Simulation results of the combined approach are presented that show that the stability properties of the bilateral controller designed in the frequency domain are improved and the transparency properties are improved with respect to those of the standard passivity-enforcing algorithm in the time domain. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICRA.2011.5979969 | Robotics and Automation |
Keywords | Field | DocType |
approximation theory,control system synthesis,frequency-domain analysis,manipulators,nonlinear control systems,stability,telecontrol,time-domain analysis,bilateral controller design,bilateral telemanipulation system passivity,frequency-domain passivity approach,interaction stability,linear time invariant approximation,nonlinear passivity enforcing control structure,time-domain passivity approach | Frequency domain,Time domain,Passivity,Teleoperation,LTI system theory,Control theory,Algorithm design,Control theory,Approximation theory,Control engineering,Engineering | Conference |
Volume | Issue | ISSN |
2011 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-61284-386-5 | 2 | 0.38 |
References | Authors | |
12 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Michel Franken | 1 | 15 | 2.97 |
| Bert Willaert | 2 | 32 | 4.39 |
| Sarthak Misra | 3 | 406 | 45.29 |
| Stefano Stramigioli | 4 | 863 | 111.80 |