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

Dongjun Lee; P. Y. Li

doi:10.1109/HAPTIC.2003.1191255

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

Dongjun Lee, P. Y. Li

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

19 Scopus citations

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.

Original language	English (US)
Title of host publication	Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	132-139
Number of pages	8
ISBN (Electronic)	0769518907, 9780769518909
DOIs	https://doi.org/10.1109/HAPTIC.2003.1191255
State	Published - 2003
Event	11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003 - Los Angeles, United States Duration: Mar 22 2003 → Mar 23 2003

Publication series

Name	Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003

Other

Other	11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003
Country/Territory	United States
City	Los Angeles
Period	3/22/03 → 3/23/03

Bibliographical note

Publisher Copyright:
© 2003 IEEE.

Keywords

Control systems
Force control
Master-slave
Mechanical factors
Mechanical systems
Robust control
Robustness
Safety
Teleoperators
Uncertainty

Access

10.1109/HAPTIC.2003.1191255

OpenUrl availability

Full text

Cite this

Lee, D., & Li, P. Y. (2003). Toward robust passivity: A passive control implementation structure for mechanical teleoperators. In Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003 (pp. 132-139). Article 1191255 (Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/HAPTIC.2003.1191255

Toward robust passivity: A passive control implementation structure for mechanical teleoperators. / Lee, Dongjun; Li, P. Y.
Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003. Institute of Electrical and Electronics Engineers Inc., 2003. p. 132-139 1191255 (Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, D & Li, PY 2003, Toward robust passivity: A passive control implementation structure for mechanical teleoperators. in Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003., 1191255, Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003, Institute of Electrical and Electronics Engineers Inc., pp. 132-139, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003, Los Angeles, United States, 3/22/03. https://doi.org/10.1109/HAPTIC.2003.1191255

Lee D, Li PY. Toward robust passivity: A passive control implementation structure for mechanical teleoperators. In Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003. Institute of Electrical and Electronics Engineers Inc. 2003. p. 132-139. 1191255. (Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003). doi: 10.1109/HAPTIC.2003.1191255

Lee, Dongjun ; Li, P. Y. / Toward robust passivity : A passive control implementation structure for mechanical teleoperators. Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003. Institute of Electrical and Electronics Engineers Inc., 2003. pp. 132-139 (Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003).

@inproceedings{f3196568d2ec42aa8c348b37c1a8f556,

title = "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 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.",

keywords = "Control systems, Force control, Master-slave, Mechanical factors, Mechanical systems, Robust control, Robustness, Safety, Teleoperators, Uncertainty",

author = "Dongjun Lee and Li, {P. Y.}",

note = "Publisher Copyright: {\textcopyright} 2003 IEEE.; 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003 ; Conference date: 22-03-2003 Through 23-03-2003",

year = "2003",

doi = "10.1109/HAPTIC.2003.1191255",

language = "English (US)",

series = "Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "132--139",

booktitle = "Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003",

}

TY - GEN

T1 - Toward robust passivity

T2 - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003

AU - Lee, Dongjun

AU - Li, P. Y.

PY - 2003

Y1 - 2003

N2 - 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.

AB - 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.

KW - Control systems

KW - Force control

KW - Master-slave

KW - Mechanical factors

KW - Mechanical systems

KW - Robust control

KW - Robustness

KW - Safety

KW - Teleoperators

KW - Uncertainty

UR - http://www.scopus.com/inward/record.url?scp=84944028371&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84944028371&partnerID=8YFLogxK

U2 - 10.1109/HAPTIC.2003.1191255

DO - 10.1109/HAPTIC.2003.1191255

M3 - Conference contribution

AN - SCOPUS:84944028371

T3 - Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003

SP - 132

EP - 139

BT - Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 22 March 2003 through 23 March 2003

ER -

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

Abstract

Publication series

Other

Bibliographical note

Keywords

Access

OpenUrl availability

Other files and links

Fingerprint

Cite this