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- Publisher Website: 10.1109/ROBOT.1995.525309
- Scopus: eid_2-s2.0-0029179963
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Conference Paper: Tele-manipulation system based on task-oriented virtual tool
Title | Tele-manipulation system based on task-oriented virtual tool |
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Authors | |
Issue Date | 1995 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 1995, v. 1, p. 351-356 How to Cite? |
Abstract | This paper proposes an alternative control algorithm for a tele-manipulator system based on a task-oriented virtual mechanism. For a given task, a task-oriented virtual tool (or a task-oriented virtual mechanism) is designed so that it has the tool dynamics which is used as a tool and assists an operator. Then we design a controller for the tele-manipulator system which has the dynamics of the task-oriented tool. Thus, the maneuverability of the system is greatly improved by controlling the tele-manipulator system so that the system behaves as a tool. In this paper, we discuss the total stability of the resultant system in view of passivity. Because the system satisfies the passivity condition, the total stability is guaranteed for a passive environment with unknown dynamics by assuming the passivity of a human operator. 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/10722/302644 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Itoh, Tomotaka | - |
dc.contributor.author | Fukuda, Toshio | - |
dc.contributor.author | Otsuka, Manabu | - |
dc.date.accessioned | 2021-09-07T08:42:18Z | - |
dc.date.available | 2021-09-07T08:42:18Z | - |
dc.date.issued | 1995 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 1995, v. 1, p. 351-356 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302644 | - |
dc.description.abstract | This paper proposes an alternative control algorithm for a tele-manipulator system based on a task-oriented virtual mechanism. For a given task, a task-oriented virtual tool (or a task-oriented virtual mechanism) is designed so that it has the tool dynamics which is used as a tool and assists an operator. Then we design a controller for the tele-manipulator system which has the dynamics of the task-oriented tool. Thus, the maneuverability of the system is greatly improved by controlling the tele-manipulator system so that the system behaves as a tool. In this paper, we discuss the total stability of the resultant system in view of passivity. Because the system satisfies the passivity condition, the total stability is guaranteed for a passive environment with unknown dynamics by assuming the passivity of a human operator. 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 | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Tele-manipulation system based on task-oriented virtual tool | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBOT.1995.525309 | - |
dc.identifier.scopus | eid_2-s2.0-0029179963 | - |
dc.identifier.volume | 1 | - |
dc.identifier.spage | 351 | - |
dc.identifier.epage | 356 | - |