Transparency in Port-Hamiltonian-Based Telemanipulation

  • Authors:

  • C. Secchi;S. Stramigioli;C. Fantuzzi

  • Affiliations:

  • Dipt. di Sci. e Metodi dell'Ing., Univ. of Modena & Reggio Emilia, Modena;-;-

  • Venue:
  • IEEE Transactions on Robotics
  • Year:
  • 2008

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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 port-Hamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels.