One of the main drawbacks of passivity based bilateral telemanipulationover delayed communication channels is the presence of a position drift betweenmaster and slave robots during contact tasks; this kinematic mismatch degradesthe interaction feeling perceived by the user. In this paper we consider port-Hamiltonian based telemanipulators and we exploit the interconnection structureof port-Hamiltonian systems to passively compensate the position drift.
Kinematic Compensation in Port-Hamiltonian Telemanipulation / Secchi, Cristian; Stramigioli, S; Fantuzzi, Cesare. - ELETTRONICO. - 366:(2007), pp. 99-110. (Intervento presentato al convegno IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control tenutosi a Nagoya, jpn nel 19-21 Luglio 2006) [10.1007/978-3-540-73890-9_7].
Kinematic Compensation in Port-Hamiltonian Telemanipulation
SECCHI, Cristian;FANTUZZI, Cesare
2007
Abstract
One of the main drawbacks of passivity based bilateral telemanipulationover delayed communication channels is the presence of a position drift betweenmaster and slave robots during contact tasks; this kinematic mismatch degradesthe interaction feeling perceived by the user. In this paper we consider port-Hamiltonian based telemanipulators and we exploit the interconnection structureof port-Hamiltonian systems to passively compensate the position drift.
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