In this paper we develop one of the first control applications of therecently proposed port-contact framework. We show how it is possible to modeland control a bilateral telemanipulation system using port-contact systems andwe develop a port-contact impedance controller that allows to impose a desiredinteractive behavior and a zero steady state position error during contact tasks.
Port-contact systems in bilateral telemanipulation / Secchi, Cristian; Stramigioli, S; Fantuzzi, Cesare. - ELETTRONICO. - 40:12(2007), pp. 474-479. (Intervento presentato al convegno 7th IFAC Symposium on Nonlinear Control Systems tenutosi a Pretoria, Sud Africa nel 21-24 Agosto 2007) [10.3182/20070822-3-za-2920.00078].
Port-contact systems in bilateral telemanipulation
SECCHI, Cristian;FANTUZZI, Cesare
2007
Abstract
In this paper we develop one of the first control applications of therecently proposed port-contact framework. We show how it is possible to modeland control a bilateral telemanipulation system using port-contact systems andwe develop a port-contact impedance controller that allows to impose a desiredinteractive behavior and a zero steady state position error during contact tasks.
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