Cart (Loading....) | Create Account
Close category search window
 

Stable teleoperation with time-domain passivity control

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
$31 $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)
Jee-Hwan Ryu ; Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejeon, South Korea ; Dong-Soo Kwon ; Hannaford, B.

A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time-domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the "passivity observer" and "passivity controller" to teleoperation systems are studied. The method is tested with our two-degrees-of-freedom master/slave teleoperation system. Stable teleoperation is achieved under conditions such as hard wall contact (stiffness >150 kN/m) and hard surface following.

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:20 ,  Issue: 2 )

Date of Publication:

April 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.