Power Scaling in Port-Hamiltonian Telemanipulation over Packet Switched Networks

Authors

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

Abstract

In several important applications involving bilateral telemanipulation systems (e.g. macro-micro teleoperation, telesurgery) master and slave act at different power scales. In this contribution, we illustrate how to embed power scaling into port- Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy to scale the power exchanged between master and slave sides and a way to handle lost packets that allow to get power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets.

Keywords

Packet Loss; Communication Channel; Stable Behavior; Communication Delay; Dirac Structure

Citation

• ISBN: 9783540713630
• Publisher: Springer Berlin Heidelberg
• DOI: 10.1007/978-3-540-71364-7_15

BibTeX

@inbook{Secchi,
  title={{Power Scaling in Port-Hamiltonian Telemanipulation over Packet Switched Networks}},
  ISBN={9783540713630},
  DOI={10.1007/978-3-540-71364-7_15},
  booktitle={{Advances in Telerobotics}},
  publisher={Springer Berlin Heidelberg},
  author={Secchi, Cristian and Stramigioli, Stefano and Fantuzzi, Cesare},
  pages={233--256}
}

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