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2006•2006 SICE-ICASE International Joint ConferenceOpen access

Passivity-based Synchronized Control of Teleoperation with Power Scaling

Hisanosuke Kawada, Toru Namerikawa

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Abstract

This paper deals with the passivity-based synchronized control of teleoperation considering position tracking and power scaling. In the proposed method, the motion and the force relation between the master and slave robots can be specified freely. Using a passivity of the systems and Lyapunov stability methods, the asymptotic stability of teleoperation with communication delay and power scaling is proven. Several experimental results show the effectiveness of our proposed method

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What this paper is about

This paper deals with the passivity-based synchronized control of teleoperation considering position tracking and power scaling. In the proposed method, the motion and the force relation between the master and slave robots can be specified freely. Using a passivity of the systems and Lyapunov stability methods, the asymptotic stability of teleoperation with communication delay and power scaling is proven. Several experimental results show the effectiveness of our proposed method

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Available abstract

This paper deals with the passivity-based synchronized control of teleoperation considering position tracking and power scaling. In the proposed method, the motion and the force relation between the master and slave robots can be specified freely. Using a passivity of the systems and Lyapunov stability methods, the asymptotic stability of teleoperation with communication delay and power scaling is proven. Several experimental results show the effectiveness of our proposed method

Key concepts: Teleoperation, Passivity, Control theory (sociology), Scaling, Computer science, Stability (learning theory), Power (physics), Master/slave

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