Symmetric impedance matched teleoperation with position tracking

Toru Namerikawa; Hisanosuke Kawada

doi:10.1109/cdc.2006.377743

Symmetric impedance matched teleoperation with position tracking

Toru Namerikawa, Hisanosuke Kawada

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

34 Citations (Scopus)

Abstract

In this paper, we propose a novel passivity-based teleoperation architecture for bilateral force and position tracking control problem. It has the passivity-based symmetric impedance matched architecture with a virtual damping. The novel teleoperation can solve the problems of position tracking. Lyapunov stability methods are used to establish the range of position control gains on the master and slave side. We show the asymptotical stability of the system. Then the controller is designed considering a trade-off between an operationability and a position tracking performance. Experimental results show the effectiveness of our proposed symmetric impedance matched teleoperation compared with the conventional one.

Original language	English
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4496-4501
Number of pages	6
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.377743
Publication status	Published - 2006
Event	45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: 2006 Dec 13 → 2006 Dec 15

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0191-2216

Other

Other	45th IEEE Conference on Decision and Control 2006, CDC
Country	United States
City	San Diego, CA
Period	06/12/13 → 06/12/15

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

Access to Document

10.1109/cdc.2006.377743

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Symmetric impedance matched teleoperation with position tracking. / Namerikawa, Toru; Kawada, Hisanosuke.

Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. p. 4496-4501 4177550 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Namerikawa, T & Kawada, H 2006, Symmetric impedance matched teleoperation with position tracking. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177550, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4496-4501, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 06/12/13. https://doi.org/10.1109/cdc.2006.377743

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