NDLI: Toward robust passivity: a passive control implementation structure for mechanical teleoperators

Content Provider	IEEE Xplore Digital Library
Author	Dongjun Lee Li, P.Y.
Copyright Year	2003
Description	Author affiliation: Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA (Dongjun Lee; Li, P.Y.)
Abstract	In previous papers, a passive control implementation structure is proposed for mechanical systems interacting with physical environments. The proposed implementation structure enforces robust passivity of the closed-loop system, i.e. passivity is ensured in the presence of inaccurate force sensing and model uncertainties. We conduct experiments to validate and demonstrate this robust passivity property of the passive control implementation structure in the context of mechanical teleoperator control. The experiments show that the implementation structure indeed ensures passivity of the closed-loop teleoperator by limiting the amount of energy generated by the control action even in the presence of model uncertainties and master-slave force sensings corrupted with time-delays. Thus, safety and interaction stability of the closed-loop teleoperator are substantially enhanced.
Sponsorship	IEEE Comput. Soc. Tech. Committee on Visualizatin & Graphics
Starting Page	132
Ending Page	139
File Size	939478
Page Count	8
File Format	PDF
ISBN	0769518907
DOI	10.1109/HAPTIC.2003.1191255
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-03-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Teleoperators Uncertainty Control systems Mechanical systems Robustness Mechanical factors Force control Master-slave Safety
Content Type	Text
Resource Type	Article

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