지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.6
- 수록면
- 552 - 557 (6page)
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This paper presents experimental results on the energy-bounding approach to a rate-mode bilateral teleoperation control that can guarantee the robust system stability in variable time-delayed telecommunication environments. Previously, rate-mode energy bounding approach [15] was proposed and verified with experimental results using the simulated remote slave model. In this paper, a real experimental setup using an industrial robot (Denso) as a remote slave robot composed and conducted similar experiments with previous paper. In order to guarantee stability of the Denso when contacting with high impedance wall, velocity based impedance control modified by position based is used. Experimental results show that the rate-mode energy bounding approach can guarantee stable bilateral teleoperation system in the free and contact motion with variable time delay.
목차
Abstract
Ⅰ. 서론
Ⅱ. 속도 모드 양방향 원격 조작
Ⅲ. 속도 모드 양방향 원격 조작 에너지 제한 알고리즘
Ⅳ. 속도 모드 양방향 원격 조작 실험
Ⅴ. 결론
참고문헌
참고문헌 (19)
참고문헌 신청
1. [학술지(정기간행물)] - T. B. Sheridan / 1993 / Space teleoperation through time delay: review and prognosis / IEEE Transactions on Robotics 9 (5) : 592 ~ 606
2. [학술지(정기간행물)] - P. F. Hokayem / 2006 / Bilateral teleoperation: An historical survey / Automatica 42 : 2035 ~ 2057
3. [학술지(정기간행물)] - W. S. Kim / 1987 / A comparison of position and rate control for telemanipulation with consideration of manipulator system dynamics / IEEE Transactions on Robot Automation 3 (5) : 426 ~ 436
4. [학술대회논문] - P. D. Lawrence / 1995 / Coordinated and force feedback control of hydraulic excavators / Proc. of International Symposium of Experimental Robotics, Stanford, CA : 114 ~ 121
5. [학술대회논문] - P. B. David / 1999 / Haptic communication for remote mobile manipulator robot operations / American Teleguidance Motion Commands and Can Also Observe in Nuclear Society, Proc. 8th Topical Meeting on Robotics & Realtime the Sequential Creation of the Remote Environment Remote System
2. [학술지(정기간행물)] - P. F. Hokayem / 2006 / Bilateral teleoperation: An historical survey / Automatica 42 : 2035 ~ 2057
3. [학술지(정기간행물)] - W. S. Kim / 1987 / A comparison of position and rate control for telemanipulation with consideration of manipulator system dynamics / IEEE Transactions on Robot Automation 3 (5) : 426 ~ 436
4. [학술대회논문] - P. D. Lawrence / 1995 / Coordinated and force feedback control of hydraulic excavators / Proc. of International Symposium of Experimental Robotics, Stanford, CA : 114 ~ 121
5. [학술대회논문] - P. B. David / 1999 / Haptic communication for remote mobile manipulator robot operations / American Teleguidance Motion Commands and Can Also Observe in Nuclear Society, Proc. 8th Topical Meeting on Robotics & Realtime the Sequential Creation of the Remote Environment Remote System
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UCI(KEPA) : I410-ECN-0101-2013-569-003284627