IRIS

This paper presents a novel control algorithm for haptic-enabled bilateral teleoperation systems involving several degrees of freedom. In particular, the contribution focuses on the implementation of a passivity layer for an established time domain scheme. The proposed approach aims at preserving transparency of interaction along subsets of the environment space which are preponderant for the given task, while guaranteeing the energy bounds required for passivity. The effectiveness of the proposed design is validated via an experiment performed on a virtual teleoperated environment.

Bianchini, G., Bimbo, J., Pacchierotti, C., Prattichizzo, D., Moreno, O.A. (2019). Transparency-oriented passivity control design for haptic-enabled teleoperation systems with multiple degrees of freedom. In Proc. 2018 IEEE Conference on Decision and Control (CDC) (pp.2011-2016). New York : IEEE [10.1109/CDC.2018.8618970].

Transparency-oriented passivity control design for haptic-enabled teleoperation systems with multiple degrees of freedom

G. BIANCHINI;D. PRATTICHIZZO;
2019-01-01

Abstract

This paper presents a novel control algorithm for haptic-enabled bilateral teleoperation systems involving several degrees of freedom. In particular, the contribution focuses on the implementation of a passivity layer for an established time domain scheme. The proposed approach aims at preserving transparency of interaction along subsets of the environment space which are preponderant for the given task, while guaranteeing the energy bounds required for passivity. The effectiveness of the proposed design is validated via an experiment performed on a virtual teleoperated environment.
2019
978-1-5386-1395-5
Bianchini, G., Bimbo, J., Pacchierotti, C., Prattichizzo, D., Moreno, O.A. (2019). Transparency-oriented passivity control design for haptic-enabled teleoperation systems with multiple degrees of freedom. In Proc. 2018 IEEE Conference on Decision and Control (CDC) (pp.2011-2016). New York : IEEE [10.1109/CDC.2018.8618970].
4.1 Contributo in Atti di convegno
File in questo prodotto:
File Dimensione Formato  
Transparency-oriented_passivity_control_design_for_haptic-enabled_teleoperation_systems_with_multiple_degrees_of_freedom.pdf

non disponibili

Tipologia: PDF editoriale
Licenza: NON PUBBLICO - Accesso privato/ristretto
Dimensione 1.84 MB
Formato Adobe PDF
  Visualizza/Apri   Richiedi una copia
1.84 MB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/1072542