Bilateral Telemanipulation: Improving the Complementarity of the Frequency- and Time-Domain Passivity Approaches
Passivity of bilateral telemanipulation systems ensures stability of the interaction with such systems. In the frequency domain, passivity of a linear time invariant approximation of the system can be designed for a considered set of operating conditions. Non-linear control structures have been proposed that enforce passivity of the system in the time domain. In this paper, extensions are proposed that increase the complimentarity of the frequency- and timedomain approaches. The combination of both approaches allows a guaranteed measure of transparency to be designed in the frequency domain for a desired set of operating conditions. For operating conditions outside the desired set, stable interaction is guaranteed by the non-linear passivity enforcing control structure. Simulation results of the combined approach are presented that show that the stability properties of the bilateral controller designed in the frequency domain are improved and the transparency properties are improved with respect to those of the standard passivity-enforcing algorithm in the timedomain.
Michel Franken Bert Willaert Sarthak Misra Stefano Stramigioli
MIRA -Institute for Biomedical Technology and Technical Medicine,University of Twente,The Netherland Department of Mechanical Engineering,K.U. Leuven,Belgium
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2104-2110
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）