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- Publisher Website: 10.1109/ROMAN.1994.365908
- Scopus: eid_2-s2.0-0028552742
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Conference Paper: Semi-autonomous tele-operation system using virtual tool
| Title | Semi-autonomous tele-operation system using virtual tool |
|---|---|
| Authors | |
| Issue Date | 1994 |
| Citation | Robot and Human Communication - Proceedings of the IEEE International Workshop, 1994, p. 327-332 How to Cite? |
| Abstract | This paper proposes a semi-autonomous control algorithm for a tele-manipulator system based on a task-oriented virtual mechanism. We design a task-oriented virtual mechanism, or a task-oriented tool dynamics for a given task and separate its coordinate system into the coordinates in autonomous mode and the coordinates in manually-controlled mode. Then, we design a controller for the tele-manipulator system so that the system has the dynamics of the task-oriented tool. Thus, the maneuverability of the system is improved by controlling the telemanipulator system so that the system behaves as a tool. By assuming the passivity of an operator, the total stability of the resultant system is guaranteed for a passive environment with unknown dynamics. The proposed control algorithm is experimentally applied to a tele-manipulator system. The experimental results illustrate the validity of the proposed control algorithm. |
| Persistent Identifier | http://hdl.handle.net/10722/302632 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Itoh, Tomotaka | - |
| dc.contributor.author | Fukuda, Toshio | - |
| dc.contributor.author | Otsuka, Manabu | - |
| dc.date.accessioned | 2021-09-07T08:42:17Z | - |
| dc.date.available | 2021-09-07T08:42:17Z | - |
| dc.date.issued | 1994 | - |
| dc.identifier.citation | Robot and Human Communication - Proceedings of the IEEE International Workshop, 1994, p. 327-332 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302632 | - |
| dc.description.abstract | This paper proposes a semi-autonomous control algorithm for a tele-manipulator system based on a task-oriented virtual mechanism. We design a task-oriented virtual mechanism, or a task-oriented tool dynamics for a given task and separate its coordinate system into the coordinates in autonomous mode and the coordinates in manually-controlled mode. Then, we design a controller for the tele-manipulator system so that the system has the dynamics of the task-oriented tool. Thus, the maneuverability of the system is improved by controlling the telemanipulator system so that the system behaves as a tool. By assuming the passivity of an operator, the total stability of the resultant system is guaranteed for a passive environment with unknown dynamics. The proposed control algorithm is experimentally applied to a tele-manipulator system. The experimental results illustrate the validity of the proposed control algorithm. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Robot and Human Communication - Proceedings of the IEEE International Workshop | - |
| dc.title | Semi-autonomous tele-operation system using virtual tool | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROMAN.1994.365908 | - |
| dc.identifier.scopus | eid_2-s2.0-0028552742 | - |
| dc.identifier.spage | 327 | - |
| dc.identifier.epage | 332 | - |