Symmetric impedance matched teleoperation with position tracking

Toru Namerikawa, Hisanosuke Kawada

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4496-4501
Number of pages6
ISBN (Print)1424401712, 9781424401710
DOIs
Publication statusPublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: 2006 Dec 132006 Dec 15

Publication series

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

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CountryUnited States
CitySan Diego, CA
Period06/12/1306/12/15

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