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The paper proposes a general network based analysis and design guidelines for teleoperation systems. The electrical domain is appealing because it enjoys proficient analysis and design tools and allows a one step higher abstraction element, the network. Thus, in order to analyze the system by means of network elements the mechanical system must be first modeled as an electric circuit. Only then power...
Typical industrial assembly tasks require an accuracy that cannot be realized by only feedback control if a minimum speed is given by a conveyor. Feed-forward has proven to be advantageous, using predictions of the desired trajectory which will be computed from sensor values. These predictions are improved by a model based classification of the sensor data to typical scenarios. In contrast to linear...
This paper generalizes the Time Domain Passivity Control concept originally introduced by J.-H. Ryu et al. (2004) in order to work for multi-degree of freedom (DoF) haptic systems with time delay. Its energy computation (named passivity observer) factors in the phase shift caused by time delay, and is improved by an energy estimation. Moreover, the variable damping of the passivity controller is generalized...
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