Chapter 43 — Telerobotics

Passivity of IPC strategy at 30-Hz sample rate

In this short video, the effectiveness of the passive sampling approach and IPC control are shown. A "PD" like control is implemented digitally in the classical way and also using IPC and passive sampling. At the used sampling frequency of 30 Hz, it is shown that instability occurs for the standard implementation, but is completely absent in the proposed way.
Stefano Stramigioli
Latitude =N 52.23875 , Longitude = E 6.85695    (link to Google Maps)