Dealing with unreliabilities in digital passive geometric telemanipulation

Abstract

In this paper two problems arising in the digital passive scheme for telemanipulation presented in [5] are addressed. At first, we show how to preserve system passivity in presence of quantization error introduced by position sensor (i.e. encoders) by introducing energy dissipation. Then, we introduce a scheme for a redundant communication channel that will… (More)
DOI: 10.1109/IROS.2003.1249298

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Cite this paper

@inproceedings{Secchi2003DealingWU, title={Dealing with unreliabilities in digital passive geometric telemanipulation}, author={Cristian Secchi and Stefano Stramigioli and Cesare Fantuzzi}, booktitle={IROS}, year={2003} }