Motion control of soil removing operation for teleoperation based demining system

Erdene Damdinsuren, Kazuhiro Kosuge, Zhi Dong Wang

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In this paper we propose a new bilateral teleoperation based soil removing technique for demining system with a geometric virtual wall concept. The virtual wall model is incorporated with bilateral telemanipulation system to restrict a motion of the slave manipulator beyond the geometrical virtual wall. The algorithm is experimentally applied to a bilateral telemanipulation system and the experimental result shows that virtual wall can guarantee a generation of smooth surface and dig out the soil without applying too much force to the suspected object in a laboratory environment.

本文言語English
ホスト出版物のタイトルProceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics
ページ13-18
ページ数6
DOI
出版ステータスPublished - 2005
イベント2005 IEEE International Workshop on Safety, Security and Rescue Robotics - Kobe, Japan
継続期間: 2005 6 62005 6 6

出版物シリーズ

名前Proceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics
2005

Other

Other2005 IEEE International Workshop on Safety, Security and Rescue Robotics
国/地域Japan
CityKobe
Period05/6/605/6/6

ASJC Scopus subject areas

  • 工学(全般)

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