Optimal Joint TDPA Formulation for Kinematically Redundant Robot Manipulators
Francesco Porcini,Massimiliano Solazzi,Antonio Frisoli,Francesco Porcini,Massimiliano Solazzi,Antonio Frisoli
The accomplishment of a successful teleoperation task requires guaranteeing system stability and transparency. Communication delay (in particular variable time delay), quantization and discretization negatively affect system stability and might be overcome with Time Domain Passivity Approach (TDPA), a model-free and robust way to cope with energy injection due to communication delay. However, this...