TY - GEN
T1 - Passivity-based synchronized control of teleoperation with power scaling
AU - Kawada, Hisanosuke
AU - Namerikawa, Toru
PY - 2006
Y1 - 2006
N2 - This paper deals with the passivity-based synchronized control of teleoperation considering position tracking arid power scaling. In the proposed method, the motion arid 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.
AB - This paper deals with the passivity-based synchronized control of teleoperation considering position tracking arid power scaling. In the proposed method, the motion arid 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.
KW - Asymptotically stable
KW - Passivity-based synchronized control
KW - Power scaling
KW - Teleoperation
UR - http://www.scopus.com/inward/record.url?scp=34250726536&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250726536&partnerID=8YFLogxK
U2 - 10.1109/SICE.2006.315799
DO - 10.1109/SICE.2006.315799
M3 - Conference contribution
AN - SCOPUS:34250726536
SN - 8995003855
SN - 9788995003855
T3 - 2006 SICE-ICASE International Joint Conference
SP - 1838
EP - 1843
BT - 2006 SICE-ICASE International Joint Conference
T2 - 2006 SICE-ICASE International Joint Conference
Y2 - 18 October 2006 through 21 October 2006
ER -