Geometric scattering in robotic telemanipulation

Geometric scattering in robotic telemanipulation

In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no analysis of the time delay, but its presence justifies the use of scattering variables to preserve passivity. The contributions of the paper are twofold: first, a geometrical, multidimensional, power-consistent expositi...

Digital passive geometric telemanipulation

In this paper we present an intrinsically passive telemanipulation scheme over a digital transmission line Internet-like. We present an analysis of the energetic behavior of the communication line both in case of loss of packages and in case of variable delay. The sample data nature of the passive controller is explicitly taken into account following the approach outlined in [9] and [10].

Geometric grasping and telemanipulation

In this paper, an extension of the so-called Intrinsic Passive Control (IPC) is illustrated, showing that an improvement of performances can be achieved by considering different types of energy-storing elements, i.e. “springs”, in the IPC. In particular, two new “springs” are introduced: a ‘variable rest length’ spring and a ‘variable stiffness’ spring, that are properly defined in order to mai...

Dealing with unreliabilities in digital passive geometric telemanipulation

In this paper two problems arising in the digital passive scheme for telemanipulation presented in [5] are addressed. At first, we show how to preserve system passivity in presence of quantization error introduced by position sensor (i.e. encoders) by introducing energy dissipation. Then, we introduce a scheme for a redundant communication channel that will compensate for missed packets improvi...

Threshold Resonance in Geometric Scattering