DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.contributor.author | Kwon, Dong-Soo | ko |
dc.contributor.author | Hannaford, Blake | ko |
dc.date.accessioned | 2013-03-04T14:17:33Z | - |
dc.date.available | 2013-03-04T14:17:33Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2004-04 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.20, no.2, pp.365 - 373 | - |
dc.identifier.issn | 1042-296X | - |
dc.identifier.uri | http://hdl.handle.net/10203/82917 | - |
dc.description.abstract | A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time-domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the "passivity observer" and "passivity controller" to teleoperation systems are studied. The method is tested with our two-degrees-of-freedom master/slave teleoperation system. Stable teleoperation is achieved under conditions such as hard wall contact (stiffness > 150 kN/m) and hard surface following. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Stable teleoperation with time-domain passivity control | - |
dc.type | Article | - |
dc.identifier.wosid | 000220706700020 | - |
dc.identifier.scopusid | 2-s2.0-1942500498 | - |
dc.type.rims | ART | - |
dc.citation.volume | 20 | - |
dc.citation.issue | 2 | - |
dc.citation.beginningpage | 365 | - |
dc.citation.endingpage | 373 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | - |
dc.identifier.doi | 10.1109/TRA.2004.824689 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.localauthor | Kwon, Dong-Soo | - |
dc.contributor.nonIdAuthor | Hannaford, Blake | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | passivity controller | - |
dc.subject.keywordAuthor | passivity observer | - |
dc.subject.keywordAuthor | teleoperation system | - |
dc.subject.keywordAuthor | time-domain passivity | - |
dc.subject.keywordPlus | BILATERAL CONTROL | - |
dc.subject.keywordPlus | STABILITY | - |
dc.subject.keywordPlus | MASTER | - |
dc.subject.keywordPlus | MANIPULATORS/ | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.subject.keywordPlus | DELAY | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.