Shaping the force feedback by dynamic scaling in the teleoperation of multi-robot systems

Conference Paper

Publication Date:

2018

Short description:

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.

Iris type:

Relazione in Atti di Convegno

Keywords:

Telerobotics; Networked robotic system modeling and control; Decentralized control

List of contributors:

Sabattini, Lorenzo; Fantuzzi, Cesare; Secchi, Cristian

Authors of the University:

FANTUZZI Cesare

SABATTINI Lorenzo

SECCHI Cristian

Handle:

https://iris.unimore.it/handle/11380/1156952

Book title:

6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018

Published in:

IFAC-PAPERSONLINE

Journal

IFAC-PAPERSONLINE

Series