TY - GEN
T1 - Symmetric impedance matched teleoperation with position tracking
AU - Namerikawa, Toru
AU - Kawada, Hisanosuke
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=39649088411&partnerID=8YFLogxK
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U2 - 10.1109/cdc.2006.377743
DO - 10.1109/cdc.2006.377743
M3 - Conference contribution
AN - SCOPUS:39649088411
SN - 1424401712
SN - 9781424401710
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4496
EP - 4501
BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 45th IEEE Conference on Decision and Control 2006, CDC
Y2 - 13 December 2006 through 15 December 2006
ER -