Position and stiffness bounding approach for geometry transparency in time delyed teleoperation

Title
Position and stiffness bounding approach for geometry transparency in time delyed teleoperation
Authors
박성진리아즈 우딘강성철류제하
Issue Date
2015-10
Publisher
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014
Citation
, 5228-5233
Abstract
This paper proposes a position and stiffness bounding approach (PSBA) for improving “geometry transparency” in time-delayed teleoperations. The proposed method can rapidly update the local model location in master site to the contact location in the slave site. The proposed PSBA can therefore avoid instability problem due to both discrete force controller and sudden contact location changes (so called “model jump effect”). Effectiveness of the proposed approach is shown by 1-DOF simple contact experiment in 500ms round trip time delayed virtual environment.
URI
http://pubs.kist.re.kr/handle/201004/50363
Appears in Collections:
KIST Publication > Conference Paper
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