Position Drift Compensation in Port-Hamiltonian Based Telemanipulation

Authors

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

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

Citation

Journal: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2006
Volume:
Issue:
Pages:
Publisher: IEEE
DOI: 10.1109/iros.2006.281915

BibTeX

@inproceedings{Secchi_2006,
  title={{Position Drift Compensation in Port-Hamiltonian Based Telemanipulation}},
  DOI={10.1109/iros.2006.281915},
  booktitle={{2006 IEEE/RSJ International Conference on Intelligent Robots and Systems}},
  publisher={IEEE},
  author={Secchi, Cristian and Stramigioli, Stefano and Fantuzzi, Cesare},
  year={2006}
}

Download the bib file

References

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