In this paper two problems arising in the digital passive scheme for telemanipulation presented in are addressed. At first, we show how to preserve system passivity in presence of quantization error introduced by position sensor (i.e. encoders) by introducing energy dissipation. Then, we introduce a scheme for a redundant communication channel that will compensate for missed packets improving performances while preserving passivity of the overall scheme.
Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation / Secchi, Cristian; Stramigioli, S.; Fantuzzi, Cesare. - ELETTRONICO. - 3:(2003), pp. 2823-2828. (Intervento presentato al convegno 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems tenutosi a Las Vegas, NV, usa nel 27-31 Ottobre 2003).
Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation
SECCHI, Cristian;FANTUZZI, Cesare
2003
Abstract
In this paper two problems arising in the digital passive scheme for telemanipulation presented in are addressed. At first, we show how to preserve system passivity in presence of quantization error introduced by position sensor (i.e. encoders) by introducing energy dissipation. Then, we introduce a scheme for a redundant communication channel that will compensate for missed packets improving performances while preserving passivity of the overall scheme.Pubblicazioni consigliate
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