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 |
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| 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 | |
| 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
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Cite this
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 (pp. 4496-4501). [4177550] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/cdc.2006.377743