In several important applications involving bilateral telemanipulation systems (e.g. macro-micro teleoperation, telesurgery) master and slave act at different power scales. In this contribution, we illustrate how to embed power scaling into port- Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy to scale the power exchanged between master and slave sides and a way to handle lost packets that allow to get power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets. © 2007 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Secchi, C., Stramigioli, S., & Fantuzzi, C. (2007). Power scaling in port-hamiltonian telemanipulation over packet switched networks. Springer Tracts in Advanced Robotics, 31, 233–256. https://doi.org/10.1007/978-3-540-71364-7_15
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