| Presentation | 2006-07-04 Passivity-based Control of Teleopelation with Position Tracking Hisanosuke KAWADA, Toru NAMERIKAWA, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | This paper deals with a passivity-based control of teleoperation considering position tracking and power scaling. The proposed control method is a passivity-based synchronized control with scaling elements. In the proposed method, motion and force relation between a master robot and a slave robot can be specified freely. The asymptotic stability of teleoperation with communication delay and power scaling is proven by using a passivity of the systems and Lyapunov stability methods. Several simulation results show the effectiveness of our proposed method. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Teleoperation / Power scaling / Synchronization control / Passivity-based control / Asymptotic stability |
| Paper # | NLP2006-42 |
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| Conference Information | |
| Committee | NLP |
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| Conference Date | 2006/6/27(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Nonlinear Problems (NLP) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Passivity-based Control of Teleopelation with Position Tracking |
| Sub Title (in English) | |
| Keyword(1) | Teleoperation |
| Keyword(2) | Power scaling |
| Keyword(3) | Synchronization control |
| Keyword(4) | Passivity-based control |
| Keyword(5) | Asymptotic stability |
| 1st Author's Name | Hisanosuke KAWADA |
| 1st Author's Affiliation | Graduate School of Natural Science and Technology, Kanazawa University() |
| 2nd Author's Name | Toru NAMERIKAWA |
| 2nd Author's Affiliation | Graduate School of Natural Science and Technology, Kanazawa University |
| Date | 2006-07-04 |
| Paper # | NLP2006-42 |
| Volume (vol) | vol.106 |
| Number (no) | 136 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |