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.
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: