Passivity based bilateral telemanipulation schemes are often subject to a position drift between master and slave if the communication channel is implemented using scattering variables. The magnitude of this position mismatch can be significant during interaction tasks. In this paper we propose a passivity preserving scheme for compensating the position drift arising during contact tasks in port-Hamiltonian based telemanipulation improving the kinematic perception of the remote environment felt by the human operator
Passivity based bilateral telemanipulation schemes are often subject to a position drift between master and slave if the communication channel is implemented using scattering variables. The magnitude of this position mismatch can be significant during interaction tasks. In this paper we propose a passivity preserving scheme for compensating the position drift arising during contact tasks in port-Hamiltonian based telemanipulation improving the kinematic perception of the remote environment felt by the human operator. © 2006 IEEE.
Position drift compensation in port-Hamiltonian based telemanipulation / Secchi, Cristian; Stramigioli, S; Fantuzzi, Cesare. - ELETTRONICO. - (2006), pp. 4211-4216. (Intervento presentato al convegno 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 tenutosi a Pechino, Cina nel 9-15 Ottobre 2006) [10.1109/IROS.2006.281915].
Position drift compensation in port-Hamiltonian based telemanipulation
SECCHI, Cristian;FANTUZZI, Cesare
2006
Abstract
Passivity based bilateral telemanipulation schemes are often subject to a position drift between master and slave if the communication channel is implemented using scattering variables. The magnitude of this position mismatch can be significant during interaction tasks. In this paper we propose a passivity preserving scheme for compensating the position drift arising during contact tasks in port-Hamiltonian based telemanipulation improving the kinematic perception of the remote environment felt by the human operator. © 2006 IEEE.
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