Teleoperation with kinematically redundant robot manipulators with sub-task objectives
| Autor: | Nitendra Nath, Darren M. Dawson, Enver Tatlicioglu |
|---|---|
| Přispěvatelé: | TR123720, Tatlıcıoğlu, Enver, Izmir Institute of Technology. Electronics and Communication Engineering |
| Rok vydání: | 2009 |
| Předmět: |
Telerobotics
Asymptotic analysis Engineering Computer simulation business.industry General Mathematics Stability (learning theory) Robot manipulator Redundant robots Control engineering Task (project management) Computer Science Applications Computer Science::Robotics Robot applications Task (computing) Nonlinear system Control and Systems Engineering Control theory Slave systems Teleoperation Asymptotic tracking business Software |
| Zdroj: | CDC |
| ISSN: | 1469-8668 0263-5747 |
| Popis: | 47th IEEE Conference on Decision and Control, CDC 2008; Cancun; Mexico; 9 December 2008 through 11 December 2008. In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunovbased stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective. |
| Databáze: | OpenAIRE |
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