In passivity based bilateral teleoperation of multi-robot systems the coupling among the robots produces unwanted dynamic effects that deteriorates the force fed back to the user. In this paper we propose a passivity based dynamic scaling strategy for compensating these disturbing terms. The effectiveness of the proposed methodology is experimentally validated.
Shaping the force feedback by dynamic scaling in the teleoperation of multi-robot systems / Sabattini, Lorenzo; Fantuzzi, Cesare; Secchi, Cristian. - 51:3(2018), pp. 143-148. (Intervento presentato al convegno 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC) tenutosi a Univ Tecnica Federico Santa Maria, Valparaiso, CHILE nel MAY 01-04, 2018) [10.1016/j.ifacol.2018.06.041].
Shaping the force feedback by dynamic scaling in the teleoperation of multi-robot systems
lorenzo sabattini
;cesare fantuzzi;cristian secchi
2018
Abstract
In passivity based bilateral teleoperation of multi-robot systems the coupling among the robots produces unwanted dynamic effects that deteriorates the force fed back to the user. In this paper we propose a passivity based dynamic scaling strategy for compensating these disturbing terms. The effectiveness of the proposed methodology is experimentally validated.
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