Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance controller for compensating the steady state position error arising in free motion because of packets loss. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.
Compensation of position errors in passivity based teleoperation over packet switched communication / Secchi, C.; Stramigioli, S.; Fantuzzi, C.. - 17:1(2008). (Intervento presentato al convegno 17th World Congress, International Federation of Automatic Control, IFAC tenutosi a Seoul, kor nel 2008) [10.3182/20080706-5-KR-1001.1675].
Compensation of position errors in passivity based teleoperation over packet switched communication
Secchi C.;Fantuzzi C.
2008
Abstract
Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance controller for compensating the steady state position error arising in free motion because of packets loss. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.
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