By Topic

Discrete time passivity in bilateral teleoperation over the Internet

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
P. Berestesky ; Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA ; N. Chopra ; M. W. Spong

In this paper, we investigate issues in the discrete-time implementation of passivity based control of bilateral teleoperators. The usual scattering formalism which, in continuous time, guarantees passivity for any constant delay, is extended in several important ways to the discrete domain, in particular to the case where communication between the master and slave robots occurs over a packet-switched network. We first show that passivity can be maintained in the face of varying delay and packet loss but that it depends fundamentally on the mechanism used to handle missing packets. Passivity alone is not sufficient to guarantee good performance. Therefore, we also introduce a novel buffering and interpolation scheme which not only preserves passivity but has been shown through simulation and experiments to improve tracking performance and transparency in a single-degree-of-freedom teleoperator system.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004