A passive bilateral control scheme for a teleoperator with time-varying communication delay

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In this paper a passive bilateral control scheme is proposed for a teleoperator with time-varying communication delay Recently proposed two-port time domain passivity approach (TDPA) which composed of Passivity Observer (PO) and Passivity Controller (PC) is extended A set of sufficient conditions is derived which satisfies the passivity of the two-port delayed network system by separating the input and output energy at each port This condition satisfies the passivity of the network system independent of the amount of delay its variation and lost packet Two PCs are designed at each port based on its causality to guarantee the passivity condition In order to filter out the sudden force change of the PC a passive virtual dynamic system composed of virtual mass and spring is inserted between the master and the PC Even under a large time-delay with variation and communication blackout the proposed approach can guarantee passive bilateral teleoperation (c) 2010 Elsevier Ltd All rights reserved
Publisher
PERGAMON-ELSEVIER SCIENCE LTD
Issue Date
2010-10
Language
English
Article Type
Article
Citation

MECHATRONICS, v.20, no.7, pp.812 - 823

ISSN
0957-4158
DOI
10.1016/j.mechatronics.2010.07.006
URI
http://hdl.handle.net/10203/264213
Appears in Collection
CE-Journal Papers(저널논문)
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