Restriction Space Projection Method for Position Sensor Based Force Reflection of Multi Degrees-of-Freedom Bilateral Teleoperation Systems in Unstructured Environments

Title
Restriction Space Projection Method for Position Sensor Based Force Reflection of Multi Degrees-of-Freedom Bilateral Teleoperation Systems in Unstructured Environments
Authors
김기훈정완균M. Cenk Cavusoglu
Issue Date
2010-05
Publisher
2010 IEEE International Conference on Robotics and Automation (ICRA2010)
Citation
, 5364-5369
Abstract
In bilateral teleoperation system, conventional position sensor based force reflection method, known as position error feedback, may generate inaccurate force reflection directions, when motion of a slave robot is constrained by unexpected obstacles and link collisions. Restriction Space Projection method is a novel position sensor based force reflection framework that was proposed to address this issue. It provides accurate force reflection in unstructured environments when motion of a slave robot is constrained by unexpected obstacles and link collisions, regardless of kinematic dissimilarity between the master and slave manipulators of the bilateral teleoperation system. This paper discusses the applications and limitations of the Restriction Space Projection method through examples.
URI
http://pubs.kist.re.kr/handle/201004/37588
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE