Name
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 the authors 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, the authors 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 |
Year | DOI | Venue |
|---|---|---|
1995 | 10.1109/ROBOT.1995.525309 | ICRA |
Keywords | Field | DocType |
maneuverability,manipulator dynamics,tool dynamics,passive environment,passivity,control algorithm,human operator,task-oriented virtual tool,total stability,unknown dynamics,telemanipulator system,task-oriented virtual mechanism,telerobotics,algorithm design and analysis,master slave,satisfiability,motion control,control systems | Passivity,Control algorithm,Control theory,Human operator,Control theory,Control engineering,Operator (computer programming),Engineering,Telerobotics,Task oriented | Conference |
Volume | ISSN | ISBN |
1 | 1050-4729 | 0-7803-1965-6 |
Citations | PageRank | References |
12 | 1.62 | 4 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kazuhiro Kosuge | 1 | 1405 | 332.36 |
| Tomotaka Itoh | 2 | 63 | 9.38 |
| Toshio Fukuda | 3 | 2723 | 818.58 |
| Manabu Otsuka | 4 | 50 | 5.26 |