Implementation and experiments of passive set-position modulation for internet teleoperation and slow/varying-rate haptics

Authors:
Ke Huang;Dongjun Lee
Affiliations:
Department of Mechanical, Aerospace & Biomedical Engineering, University of Tennessee-Knoxville, Knoxville, TN;Department of Mechanical, Aerospace & Biomedical Engineering, University of Tennessee-Knoxville, Knoxville, TN
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

In previous papers we proposed passive set-position modulation (PSPM) framework which enables us to connect continuous-time robot's position to a sequence of discrete set-position signals via spring coupling with damping injection while enforcing passivity. In this paper we present experimental results to show its stability and performance. We will also discuss some practical implementation details.