Variable delay in scaled port-Hamiltonian telemanipulation

Authors

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

Abstract

In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery, micromanipulation). Scaling forces and velocities means scaling the power that is exchanged between master and slave sides through the communication channel. In this paper we show how it is possible to embed power scaling in the scattering based communication channel used in port-Hamiltonian based telemanipulation. Furthermore, a strategy for passively dealing with variable communication delay is proposed in order to allow scaled teleoperation over packet switched networks as Internet.

Keywords

Telemanipulation; Port-Hamiltonian systems; Variable delay

Citation

• Journal: Mechatronics
• Year: 2008
• Volume: 18
• Issue: 7
• Pages: 357–363
• Publisher: Elsevier BV
• DOI: 10.1016/j.mechatronics.2007.09.003
• Note: Special Section of Revised Papers from the 8th International IFAC Symposium on Robot Control

BibTeX

@article{Secchi_2008,
  title={{Variable delay in scaled port-Hamiltonian telemanipulation}},
  volume={18},
  ISSN={0957-4158},
  DOI={10.1016/j.mechatronics.2007.09.003},
  number={7},
  journal={Mechatronics},
  publisher={Elsevier BV},
  author={Secchi, Cristian and Stramigioli, Stefano and Fantuzzi, Cesare},
  year={2008},
  pages={357--363}
}

Download the bib file

References

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