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A Passivity Criterion for Sampled-data Bilateral Teleoperation Systems
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ISSN: 1939-1412
| ASCII Text | x | ||
| Ali Jazayeri, Mahdi Tavakoli, "A Passivity Criterion for Sampled-data Bilateral Teleoperation Systems," IEEE Transactions on Haptics, vol. 99, no. 1, pp. 1, , 5555. | |||
| BibTex | x | ||
| @article{ 10.1109/TOH.2012.73, author = {Ali Jazayeri and Mahdi Tavakoli}, title = {A Passivity Criterion for Sampled-data Bilateral Teleoperation Systems}, journal ={IEEE Transactions on Haptics}, volume = {99}, number = {1}, issn = {1939-1412}, year = {5555}, pages = {1}, doi = {http://doi.ieeecomputersociety.org/10.1109/TOH.2012.73}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } | |||
| RefWorks Procite/RefMan/Endnote | x | ||
| TY - JOUR JO - IEEE Transactions on Haptics TI - A Passivity Criterion for Sampled-data Bilateral Teleoperation Systems IS - 1 SN - 1939-1412 SP EP EPD - 1 A1 - Ali Jazayeri, A1 - Mahdi Tavakoli, PY - 5555 KW - Haptics Applications KW - Haptics VL - 99 JA - IEEE Transactions on Haptics ER - | |||
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/TOH.2012.73
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A teleoperation system consists of a teleoperator, a human operator, and a remote environment. Conditions involving system and controller parameters that ensure the teleoperator passivity can serve as control design guidelines to attain maximum teleoperation transparency while maintaining system stability. In this paper, sufficient conditions for teleoperator passivity are derived for when position error based controllers are implemented in discrete-time. This new analysis is necessary because discretization causes energy leaks and does not necessarily preserve the passivity of the system. The proposed criterion for sampled-data teleoperator passivity imposes lower bounds on the teleoperator's robots dampings, an upper bound on the sampling time, and bounds on the control gains. The criterion is verified through simulations and experiments.
Index Terms:
Haptics Applications,Haptics
Citation:
Ali Jazayeri, Mahdi Tavakoli, "A Passivity Criterion for Sampled-data Bilateral Teleoperation Systems," IEEE Transactions on Haptics, 28 Dec. 2012. IEEE computer Society Digital Library. IEEE Computer Society, <http://doi.ieeecomputersociety.org/10.1109/TOH.2012.73>
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