DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Jonghyun | ko |
dc.contributor.author | Park, Hyung-Soon | ko |
dc.contributor.author | Chang, Pyung Hun | ko |
dc.date.accessioned | 2013-03-09T01:20:56Z | - |
dc.date.available | 2013-03-09T01:20:56Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2010-06 | - |
dc.identifier.citation | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.58, no.3-4, pp.309 - 337 | - |
dc.identifier.issn | 0921-0296 | - |
dc.identifier.uri | http://hdl.handle.net/10203/94953 | - |
dc.description.abstract | This paper investigates simple and robust transparency-attainable control architectures for bilateral teleoperation. The strength of two-channel control architectures and time-delay control are exploited. First, two types of transparency-attainable two-channel control architecture are derived. In spite of the simplicity of using two communication channels, these architectures have problems in terms of implementation; they are not simple enough and not robust to uncertainties, such as errors in modeling the plant and force sensor noise. To solve the problems, time-delay control laws for two-channel control architecture are proposed. The model-independent, nonlinear, and robust characteristics of time-delay control mitigate the problems related to complexity and robustness. Finally, the proposed control laws are applied to experiments using a 2-DOF master-slave system. The experimental results confirm the validity of the theoretical approaches. | - |
dc.language | English | - |
dc.publisher | SPRINGER | - |
dc.subject | BILATERAL TELEOPERATION | - |
dc.subject | STABILITY ROBUSTNESS | - |
dc.subject | SYSTEMS | - |
dc.subject | ROBOT | - |
dc.subject | TELEMANIPULATION | - |
dc.subject | MASTER | - |
dc.subject | COMMUNICATION | - |
dc.subject | TELEPRESENCE | - |
dc.subject | MANIPULATORS | - |
dc.subject | FEEDBACK | - |
dc.title | Simple and Robust Attainment of Transparency Based on Two-Channel Control Architectures Using Time-Delay Control | - |
dc.type | Article | - |
dc.identifier.wosid | 000277024200006 | - |
dc.identifier.scopusid | 2-s2.0-77953025474 | - |
dc.type.rims | ART | - |
dc.citation.volume | 58 | - |
dc.citation.issue | 3-4 | - |
dc.citation.beginningpage | 309 | - |
dc.citation.endingpage | 337 | - |
dc.citation.publicationname | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | - |
dc.identifier.doi | 10.1007/s10846-009-9376-0 | - |
dc.contributor.localauthor | Kim, Jonghyun | - |
dc.contributor.localauthor | Park, Hyung-Soon | - |
dc.contributor.localauthor | Chang, Pyung Hun | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Transparency | - |
dc.subject.keywordAuthor | Two-channel control architecture | - |
dc.subject.keywordAuthor | Time-delay control | - |
dc.subject.keywordAuthor | Bilateral teleoperation | - |
dc.subject.keywordPlus | BILATERAL TELEOPERATION | - |
dc.subject.keywordPlus | STABILITY ROBUSTNESS | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.subject.keywordPlus | ROBOT | - |
dc.subject.keywordPlus | TELEMANIPULATION | - |
dc.subject.keywordPlus | MASTER | - |
dc.subject.keywordPlus | COMMUNICATION | - |
dc.subject.keywordPlus | TELEPRESENCE | - |
dc.subject.keywordPlus | MANIPULATORS | - |
dc.subject.keywordPlus | FEEDBACK | - |
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