In this paper we present an intrinsically passive telemanipulation scheme over a digital transmission line Internet-like. We present an analysis of the energetic behavior of the communication line both in case of loss of packages and in case of variable delay. The sample data nature of the passive controller is explicitly taken into account following the approach outlined
Digital passive geometric telemanipulation / Secchi, Cristian; Stramigioli, S.; Fantuzzi, Cesare. - ELETTRONICO. - 3:(2003), pp. 3290-3295. ( 2003 IEEE International Conference on Robotics and Automation Taipei, Taiwan 14-19 Settembre 2003).
Digital passive geometric telemanipulation
SECCHI, Cristian;FANTUZZI, Cesare
2003
Abstract
In this paper we present an intrinsically passive telemanipulation scheme over a digital transmission line Internet-like. We present an analysis of the energetic behavior of the communication line both in case of loss of packages and in case of variable delay. The sample data nature of the passive controller is explicitly taken into account following the approach outlined
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