DC Field | Value | Language |
---|---|---|
dc.contributor.author | Farkhatdinov, Ildar | ko |
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.contributor.author | Poduraev, Jury | ko |
dc.date.accessioned | 2021-07-22T01:10:16Z | - |
dc.date.available | 2021-07-22T01:10:16Z | - |
dc.date.created | 2021-07-21 | - |
dc.date.issued | 2008-10-14 | - |
dc.identifier.citation | 2008 International Conference on Control, Automation and Systems, ICCAS 2008, pp.272 - 277 | - |
dc.identifier.uri | http://hdl.handle.net/10203/286812 | - |
dc.description.abstract | This paper provides results of feasibility study of time domain passivity approach for bilateral teleoperation of mobile manipulator. Mobile manipulator in this study is a manipulator mounted on mobile platform. We consider bilateral teleoperation system in which human-operator sequentially controls speed of mobile platform (rate mode) or position of manipulator via manipulating haptic master device. Force feedback is transmitted to human-operator based on physical interaction of manipulator end-effector with remote environment. Time-domain passivity has been successfully applied to teleoperation systems in which position of master robot was mapped to position of slave robot. In this paper attempt of application of time-domain passivity control for rate and position control of mobile manipulator is presented. Time- domain passivity application issues are described and analyzed. Experimental results showed possibility of application of time-domain passivity control for rate control in certain range. | - |
dc.language | English | - |
dc.publisher | IEEE | - |
dc.title | A feasibility study of time-domain passivity approach for bilateral teleoperation of mobile manipulator | - |
dc.type | Conference | - |
dc.identifier.wosid | 000266771500048 | - |
dc.identifier.scopusid | 2-s2.0-58149099994 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 272 | - |
dc.citation.endingpage | 277 | - |
dc.citation.publicationname | 2008 International Conference on Control, Automation and Systems, ICCAS 2008 | - |
dc.identifier.conferencecountry | KO | - |
dc.identifier.conferencelocation | COEX, Seoul | - |
dc.identifier.doi | 10.1109/ICCAS.2008.4694563 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.nonIdAuthor | Farkhatdinov, Ildar | - |
dc.contributor.nonIdAuthor | Poduraev, Jury | - |
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