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We propose a novel framework - passive set-position modulation - which enables us to utilize the explicit position feedback over packet-switching communication network (e.g. Internet) with significant varying-delay and packet-loss, while enforcing energetic passivity at the same time. The proposed modulation framework is flexible (i.e. can accommodate varying data update-rate and intermediate data...
We propose a novel control framework for bilateral teleoperation of a pair of multi-degree-of-freedom (DOF) nonlinear robotic systems under constant communication delays. The proposed framework utilizes the simple proportional-derivative (PD) control, i.e. the master and slave robots are directly connected via spring and damper over the delayed communication channels. Using the controller passivity...
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