Skip to main content
SpringerLink
Log in
SpringerLink
Log in

Scattering Variables-Based Control of Bilateral Teleoperators

  • Chapter
  • First Online:
Passivity-Based Control and Estimation in Networked Robotics

Part of the book series: Communications and Control Engineering ((CCE))

  • 1943 Accesses

Abstract

This chapter first formulates the bilateral teleoperation problem as an interconnection of passive systems, and then reviews the passivity-based scattering-wave variable-based control design. It is then pointed out that coordination of master-slave robots may fail due to loss of velocity signals or mismatch of initial conditions. In order to eliminate the problem, a new control architecture is finally presented.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Author information

Authors and Affiliations

  1. Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan

    Takeshi Hatanaka & Masayuki Fujita

  2. Department of Mechanical Engineering, University of Maryland, College Park, MD, USA

    Nikhil Chopra

  3. Erik Jonsson School of Engineering and Computer Science, Department of Electrical Engineering, University of Texas at Dallas, Richardson, TX, USA

    Mark W. Spong

Authors
  1. Takeshi Hatanaka
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Nikhil Chopra
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Masayuki Fujita
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Mark W. Spong
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Takeshi Hatanaka .

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this chapter

Cite this chapter

Hatanaka, T., Chopra, N., Fujita, M., Spong, M.W. (2015). Scattering Variables-Based Control of Bilateral Teleoperators. In: Passivity-Based Control and Estimation in Networked Robotics. Communications and Control Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-15171-7_3

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-15171-7_3

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-15170-0

  • Online ISBN: 978-3-319-15171-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation