Symmetric impedance matched teleoperation with position tracking

Toru Namerikawa, Hisanosuke Kawada

研究成果: Conference contribution

34 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4496-4501
ページ数6
ISBN(印刷版)1424401712, 9781424401710
DOI
出版ステータスPublished - 2006
外部発表はい
イベント45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
継続期間: 2006 12月 132006 12月 15

出版物シリーズ

名前Proceedings of the IEEE Conference on Decision and Control
ISSN(印刷版)0743-1546
ISSN(電子版)2576-2370

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 制御と最適化

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