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Toward robust passivity: a passive control implementation structure for mechanical teleoperators | IEEE Conference Publication | IEEE Xplore

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


Abstract:

In previous papers, a passive control implementation structure is proposed for mechanical systems interacting with physical environments. The proposed implementation stru...Show More

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.
Date of Conference: 22-23 March 2003
Date Added to IEEE Xplore: 02 April 2003
Print ISBN:0-7695-1890-7
Conference Location: Los Angeles, CA, USA

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