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

Dongjun Lee, P. Y. Li

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationProceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages132-139
Number of pages8
ISBN (Electronic)0769518907, 9780769518909
DOIs
StatePublished - Jan 1 2003
Event11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003 - Los Angeles, United States
Duration: Mar 22 2003Mar 23 2003

Publication series

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

Other

Other11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003
Country/TerritoryUnited States
CityLos Angeles
Period3/22/033/23/03

Keywords

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

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