Transparency in Port-Hamiltonian-Based Telemanipulation

Abstract

Abstract-After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the behavioral approach in order to provide an index for the evaluation of transparency in portHamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels.

KONTUR-2: Force-feedback teleoperation from the international space station

“…scattering parameters and wave variables). [8], [9] have extended these ideas using port-Hamiltonians, an energy based modelling tool that allows more complex control structures.…”

Variable delay in scaled port-Hamiltonian telemanipulation

“…In this case the use the freshest sample (UFS) strategy is used: a time stamp is attached to each transmitted packet and if a packet older than the last received packet arrives, it is simply discarded. This technique avoids the introduction of extra delay needed for implementing buffering strategies which would highly degrade the transparency of the overall telemanipulation system, as proven in [15]. In this case, the energetic contribution of the discarded packet is dissipated and this makes the communication channel strictly passive and, therefore, the UFS technique keeps on preserving the passivity of the overall telemanipulation system.…”

A port-Hamiltonian framework for operator force assisting systems: Application to the design of helicopter flight controls

“…where γ F = 1 for force scaling. When γ F = γ E = 1, the slave system reproduces the behavior of the master system with fidelity, the impedance from the master and the slave side are equal, and the system is called transparent (Secchi et al (2015)). For OAS, this will never be possible to achieve perfect transparency because of the closed-loop dynamics, which depends both on the assistance control and the CVT dynamics.…”