DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.contributor.author | Preusche, Carsten | ko |
dc.date.accessioned | 2021-07-28T01:10:10Z | - |
dc.date.available | 2021-07-28T01:10:10Z | - |
dc.date.created | 2021-07-23 | - |
dc.date.issued | 2007-04-10 | - |
dc.identifier.citation | 2007 IEEE International Conference on Robotics and Automation, ICRA'07, pp.3508 - 3513 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10203/286868 | - |
dc.description.abstract | In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. Teleoperation experiment with about 120 (msec) of time-delay each way is performed. Stable teleoperaion is achieved in free motion and hard contact as well. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.title | Stable bilateral control of teleoperators under time-varying communication delay: Time domain passivity approach | - |
dc.type | Conference | - |
dc.identifier.wosid | 000250915303087 | - |
dc.identifier.scopusid | 2-s2.0-36348990702 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 3508 | - |
dc.citation.endingpage | 3513 | - |
dc.citation.publicationname | 2007 IEEE International Conference on Robotics and Automation, ICRA'07 | - |
dc.identifier.conferencecountry | IT | - |
dc.identifier.conferencelocation | Rome | - |
dc.identifier.doi | 10.1109/ROBOT.2007.364015 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.nonIdAuthor | Preusche, Carsten | - |
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