Dealing with unreliabilities in digital passive geometric telemanipulation
نویسندگان
چکیده
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 compensate for missed packets improving performances while preserving passivity of the overall scheme.
منابع مشابه
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تاریخ انتشار 2003