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Paper TuP205.4

Lee, Dongjun (University of Tennessee-Knoxville), Xu, Daye (Univ. of Tennessee)

Feedback $r$-Passivity of Lagrangian Systems for Mobile Robot Teleoperation

Scheduled for presentation during the Regular Sessions "Teleoperation III" (TuP205), Tuesday, May 10, 2011, 16:10−16:25, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Teleoperation, Telerobotics

Abstract

One of the key challenges in mobile robot teleoperation is master-slave kinematic dissimilarity: master device (e.g., joystick) has a bounded workspace, while slave mobile robot can/should cover an unbounded workspace. A direct master-position/slave-velocity coupling has been frequently used for this, which, yet, in general, violates passivity of the closed-loop system, since the master system with position output cannot be passive. In this paper, we propose a new notion of {em feedback $r$-passivity} of general multi-dimensional Lagrangian systems, which allows us to achieve such master-position/slave-velocity coupling while enforcing passivity. Its applications to tele-driving of dynamic and kinematic WMRs with constant communication delay are also presented.

 

 

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