Multi-DoF Time Domain Passivity Approach based Drift Compensation for Telemanipulation

09/04/2019
by   Andre Coelho, et al.
0

When, in addition to stability, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the desired objective. This is due to an undesired effect caused by admittance type passivity controllers, namely position drift. Previous works focused on developing TDPA-based drift compensation methods to solve this issue. It was shown that, in addition to reducing drift, one of the proposed methods was able to keep the force signals within their normal range, guaranteeing the safety of the task. However, no multi-DoF treatment of those approaches has been addressed. In that scope, this paper focuses on providing an extension of previous TDPA-based approaches to multi-DoF Cartesian-space teleoperation. An analysis of the convergence properties of the presented method is also provided. In addition, its applicability to multi-DoF devices is shown through hardware experiments and numerical simulation with round-trip time delays up to 700 ms.

READ FULL TEXT
research
02/06/2020

Smoother Position-Drift Compensation for Time Domain Passivity Approach based Teleoperation

Despite being one of the most robust methods in bilateral teleoperation,...
research
10/08/2021

How to Do Things without Words: Modeling Semantic Drift of Emoji

Emoji have become a significant part of our informal textual communicati...
research
03/21/2021

Automated Software Vulnerability Assessment with Concept Drift

Software Engineering researchers are increasingly using Natural Language...
research
04/20/2023

Experimental Flight Testing of an Adaptive Autopilot with Parameter Drift Mitigation

This paper modifies an adaptive multicopter autopilot to mitigate instab...
research
12/01/2020

Analysis of Drifting Features

The notion of concept drift refers to the phenomenon that the distributi...
research
12/17/2022

Convergence of the tamed-Euler-Maruyama method for SDEs with discontinuous and polynomially growing drift

Numerical methods for SDEs with irregular coefficients are intensively s...
research
03/15/2022

Improved Multi-label Classification under Temporal Concept Drift: Rethinking Group-Robust Algorithms in a Label-Wise Setting

In document classification for, e.g., legal and biomedical text, we ofte...

Please sign up or login with your details

Forgot password? Click here to reset