Integrating Measured Force Feedback in Passive Multilateral Teleoperation

Panzirsch, Michael; Hulin, Thomas; Artigas Esclusa, Jordi; Ott, Christian y Ferre Pérez, Manuel (2016). Integrating Measured Force Feedback in Passive Multilateral Teleoperation. En: "EuroHaptics 2016", July 4-7, 2016, London, UK. ISBN 978-3-319-42320-3 Online ISBN: 978-3-319-42321-0. pp. 316-326. https://doi.org/10.1007/978-3-319-42321-0_29.

Descripción

Título: Integrating Measured Force Feedback in Passive Multilateral Teleoperation
Autor/es:
  • Panzirsch, Michael
  • Hulin, Thomas
  • Artigas Esclusa, Jordi
  • Ott, Christian
  • Ferre Pérez, Manuel
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: EuroHaptics 2016
Fechas del Evento: July 4-7, 2016
Lugar del Evento: London, UK
Título del Libro: Haptics: Perception, Devices, Control, and Applications. 10th International Conference, EuroHaptics 2016, London, UK, July 4-7, 2016, Proceedings, Part I
Fecha: 2016
ISBN: 978-3-319-42320-3 Online ISBN: 978-3-319-42321-0
Materias:
Palabras Clave Informales: Teleoperation, measured force feedback, passivity, TDPA
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

In teleoperation systems, the master robot receives force feedback from the remote slave side. Thus, the human operator can perceive the contact between the slave robot and its environment. Application of a force sensor at the slave robot improves the performance of the telepresence system in terms of transparency. Still, so far no approach allowing measured force feedback in time delayed multilateral systems that allow the interaction of multiple agents can be found in literature. To this end, this paper presents a multilateral setup with passive measured force feedback based on the time domain passivity approach. Besides this solution to measured force feedback in multilateral systems, the presented approach promises improvements compared to other time invariant and model based approaches for measured force feedback also when applied to bilateral systems. Experiments are presented to allow for a performance analysis of the proposed system design.

Más información

ID de Registro: 46691
Identificador DC: http://oa.upm.es/46691/
Identificador OAI: oai:oa.upm.es:46691
Identificador DOI: 10.1007/978-3-319-42321-0_29
URL Oficial: http://www.eurohaptics2016.org/
Depositado por: Memoria Investigacion
Depositado el: 21 Jun 2017 10:55
Ultima Modificación: 21 Jun 2017 10:55
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