In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery). The aim of this paper is to embed power scaling into port-Hamiltonian based bilateral telemanipulation schemes, In order to deal with nonnegligible transmission delays we propose a novel scattering based communication strategy to properly scale the power exchanged by master and slave while preserving a stable behavior of the overall scheme.
In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery). The aim of this paper is to embed power scaling into port-Hamiltonian based bilateral telemanipulation schemes. In order to deal with non negligible transmission delays we propose a novel scattering based communication strategy to properly scale the power exchanged by master and slave while preserving a stable behavior of the overall scheme. © 2005 IEEE.
Power Scaling in port-Hamiltonian based Telemanipulation / Secchi, Cristian; Stramigioli, S.; Fantuzzi, Cesare. - ELETTRONICO. - (2005), pp. 1850-1855. (Intervento presentato al convegno 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems tenutosi a Edmonton, Canada nel 2-6 Agosto 2005) [10.1109/IROS.2005.1545406].
Power Scaling in port-Hamiltonian based Telemanipulation
SECCHI, Cristian;FANTUZZI, Cesare
2005
Abstract
In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery). The aim of this paper is to embed power scaling into port-Hamiltonian based bilateral telemanipulation schemes. In order to deal with non negligible transmission delays we propose a novel scattering based communication strategy to properly scale the power exchanged by master and slave while preserving a stable behavior of the overall scheme. © 2005 IEEE.
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