Passivity-based synchronized control of teleoperation with power scaling

Hisanosuke Kawada, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages1838-1843
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period06/10/1806/10/21

Fingerprint

Remote control
Asymptotic stability
Robots
Communication

Keywords

  • Asymptotically stable
  • Passivity-based synchronized control
  • Power scaling
  • Teleoperation

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kawada, H., & Namerikawa, T. (2006). Passivity-based synchronized control of teleoperation with power scaling. In 2006 SICE-ICASE International Joint Conference (pp. 1838-1843). [4108982] https://doi.org/10.1109/SICE.2006.315799

Passivity-based synchronized control of teleoperation with power scaling. / Kawada, Hisanosuke; Namerikawa, Toru.

2006 SICE-ICASE International Joint Conference. 2006. p. 1838-1843 4108982.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kawada, H & Namerikawa, T 2006, Passivity-based synchronized control of teleoperation with power scaling. in 2006 SICE-ICASE International Joint Conference., 4108982, pp. 1838-1843, 2006 SICE-ICASE International Joint Conference, Busan, Korea, Republic of, 06/10/18. https://doi.org/10.1109/SICE.2006.315799
Kawada H, Namerikawa T. Passivity-based synchronized control of teleoperation with power scaling. In 2006 SICE-ICASE International Joint Conference. 2006. p. 1838-1843. 4108982 https://doi.org/10.1109/SICE.2006.315799
Kawada, Hisanosuke ; Namerikawa, Toru. / Passivity-based synchronized control of teleoperation with power scaling. 2006 SICE-ICASE International Joint Conference. 2006. pp. 1838-1843
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