In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conservativeness due to passivity preservation and to increment the level of transparency that can be achieved. The proposed approach is implemented on a realistic surgical scenario developed within the EU-funded SARAS project.
An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems / Minelli, M.; Ferraguti, F.; Piccinelli, N.; Muradore, R.; Secchi, C.. - 2019-:(2019), pp. 423-429. (Intervento presentato al convegno 2019 International Conference on Robotics and Automation, ICRA 2019 tenutosi a Palais des Congres de Montreal, can nel 2019) [10.1109/ICRA.2019.8794335].
An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems
Minelli M.;Ferraguti F.;Secchi C.
2019-01-01
Abstract
In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conservativeness due to passivity preservation and to increment the level of transparency that can be achieved. The proposed approach is implemented on a realistic surgical scenario developed within the EU-funded SARAS project.
| File | Dimensione | Formato | |
|---|---|---|---|
|
An_energy-shared_two-layer_approach_for_multi-master-multi-slave_bilateral_teleoperation_systems.pdf
Accesso riservato
Tipologia:
Versione pubblicata dall'editore
Dimensione
160.39 kB
Formato
Adobe PDF
|
160.39 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
Pubblicazioni consigliate
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris
