Passivity-based teleoperation system for robots with parametric uncertainty and communication delay

Yen Chen Liu, Mun Hooi Khong

研究成果: Conference article

3 引文 斯高帕斯(Scopus)

摘要

Teleoperation systems developed in joint-space or task-space without taking into account parameter uncertainties impede the application of such framework on automation and manufacturing system. In this paper, a passivity-based control framework is proposed to accomplish teleoperation in the presence of unknown parameters and communication delays. First, we demonstrate that based on the addressed adaptive laws, the individual closed-loop robotic systems are passive. A passive coordination control is then utilized to ensure the position and velocity tracking between the local and remote robots. The interconnected system is proven to be stable, and experimental results are presented to verify the efficacy of the proposed control algorithms.

原文English
文章編號6899337
頁(從 - 到)271-276
頁數6
期刊IEEE International Conference on Automation Science and Engineering
2014-January
DOIs
出版狀態Published - 2014 一月 1
事件2014 IEEE International Conference on Automation Science and Engineering, CASE 2014 - Taipei, Taiwan
持續時間: 2014 八月 182014 八月 22

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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