Feedback γ-Passivity of Lagrangian Systems for Mobile Robot Teleoperation

摘要：

One of the key challenges in mobile robot teleoperation is master-slave kinematic dissimilarity: master device (e.g., joystick) has a bounded workspace, while slave mobile robot can/should cover an unbounded workspace. A direct masterposition/ slave-velocity coupling has been frequently used for this, which, yet, in general, violates passivity of the closedloop system, since the master system with position output cannot be passive. In this paper, we propose a new notion of feedback r-passivity of general multi-dimensional Lagrangian systems, which allows us to achieve such master-position/slavevelocity coupling while enforcing passivity. Its applications to tele-driving of dynamic and kinematic WMRs with constant communication delay are also presented.

作者: Dongjun Lee Daye Xu

作者单位: Dept. of Mechanical,Aerospace & Biomedical Engineering,Univ. of Tennessee,Knoxville,TN 37996 USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2118-2123

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）