1,721,083 research outputs found
Digital passive geometric telemanipulation
Full text linkIn this paper we present an intrinsically passive telemanipulation scheme over a digital transmission line Internet-like. We present an analysis of the energetic behavior of the communication line both in case of loss of packages and in case of variable delay. The sample data nature of the passive controller is explicitly taken into account following the approach outline
Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation
Full text linkIn 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
GEOPLEX: Geometric Network Modelling and Control of Complex Physical Systems
No full textIST-2001-34166, http://www.geoplex.cc
Delayed Virtual Environments: a port-Hamiltonian Approach
No full textIn this paper the problem of delayed virtual environments in haptics is addressed. We show that the approach outlined is no longer passive in case of (computational) delay on the output of the virtual environment. Passivity can be recovered using scattering theory; a discretization algorithm which leads to a discrete passive port-Hamiltonian systems with respect to any delay on the output is proposed
A port-Hamiltonian approach to the control of interaction
No full textIn many applications, a robot has to interact with the surrounding environment in order to perform some useful task. When a manipulator interacts with an object a very profound change occurs. In fact, before the contact, the controller has to control only the motion of the robot; after the contact, the manipulator dynamically interacts with the environment and the controller has to manage a new dynamical system made up by the robot coupled with the environment. It has been proven in [328] that even if the controlled robot is stable in case of free motion, its behavior could become unstable when there is a contact with the environment. © 2007 Springer-Verlag Berlin Heidelberg
Control of port-Hamiltonian systems
No full textEnergy plays a central role in the control of physical systems since the "shape" of the energy is related to the stability properties of the system. In fact, it is well known from physics, that every configuration characterized by a (local) minimum of the energy exhibits a (locally) stable behavior. Unfortunately the configuration that naturally corresponds to a minimum of the energy is very seldom the desired configuration for the system. © 2007 Springer-Verlag Berlin Heidelberg
Physical modeling and port-Hamiltonian systems
No full textInteraction between physical systems is determined by an exchange of energy and, therefore, a first step towards the control of interaction is to explicitly model the energetic properties of physical systems. © 2007 Springer-Verlag Berlin Heidelberg
Port-Hamiltonian based bilateral telemanipulation
No full textTelemanipulation is one of the first fields of application of robotics (see [326] for an early history) and still one of the most challenging. In teleoperation a human operator has to perform a certain task on a remote environment. The human operator commands a local robotic interface (called master). The motion of the master is transmitted through a communication channel to a remote robot (called slave) which should replicate the motion of the master and perform a desired task on the remote environment. It is possible to improve performances providing to the human operator some real-time information about the interaction of the slave with the remote environment. This feedback information can be achieved in several ways (e.g. through visual displays, [146]) but the best way to improve the operator's ability is to feedback the contact force between the slave and the environment to the master side. When the force at the slave side is reflected back to the human operator, it is said that the telemanipulation is controlled bilaterally, or, more simply, that we have a bilateral telemanipulation system. When teleoperation is performed over a great distance, such as in undersea or in space applications, or over packet switching network, such as the Internet, the communication delay associated to the transmission of information from master side to slave side and vice-versa becomes non negligible and it can therefore destabilize the whole system. © 2007 Springer-Verlag Berlin Heidelberg
Compensation of position errors in passivity based teleoperation over packet switched communication networks
Full text linkInvited paper nella sessione intitolata “Putting Energy back in Robotics”
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