Shaping the force feedback by dynamic scaling in the teleoperation of multi-robot systems
Contributo in Atti di convegno
Data di Pubblicazione:
2018
Citazione:
Shaping the force feedback by dynamic scaling in the teleoperation of multi-robot systems / Sabattini, Lorenzo; Fantuzzi, Cesare; Secchi, Cristian. - 51:3(2018), pp. 143-148. ( 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC) Univ Tecnica Federico Santa Maria, Valparaiso, CHILE MAY 01-04, 2018) [10.1016/j.ifacol.2018.06.041].
Abstract:
In passivity based bilateral teleoperation of multi-robot systems the coupling among
the robots produces unwanted dynamic effects that deteriorates the force fed back to the user.
In this paper we propose a passivity based dynamic scaling strategy for compensating these
disturbing terms. The effectiveness of the proposed methodology is experimentally validated.
the robots produces unwanted dynamic effects that deteriorates the force fed back to the user.
In this paper we propose a passivity based dynamic scaling strategy for compensating these
disturbing terms. The effectiveness of the proposed methodology is experimentally validated.
Tipologia CRIS:
Relazione in Atti di Convegno
Keywords:
Telerobotics; Networked robotic system modeling and control; Decentralized control
Elenco autori:
Sabattini, Lorenzo; Fantuzzi, Cesare; Secchi, Cristian
Link alla scheda completa:
Titolo del libro:
6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018
Pubblicato in: