Abstract
This paper proposes an alternative control algorithm for scaled teleoperation system. In micro environment, since force acts on the environment as well as its dimension is small, appropriate size or precision of force sensor for controlling manipulator is not always available. So, it is important to implement bilateral scaled teleoperation system without using force sensors in micro environment. The proposed algorithm utilizes mass property of the slave manipulator as it is, it could be implemented without using slave-side force sensors. The stability of the system is also guaranteed based on passivity properties of the system, for any scaling ratio between master and slave. The proposed algorithm is applied to experimental micro-macro teleoperation system and experimental results illustrate the validity of the system.
| Original language | English |
|---|---|
| Pages (from-to) | 1600-1605 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| Publication status | Published - 1997 Jan 1 |
| Event | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: 1997 Apr 20 → 1997 Apr 25 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering