Description of Instantaneous Restriction Space for Multi-DOFs Bilateral Teleoperation Systems Using Position Sensors in Unstructured Environments

Title
Description of Instantaneous Restriction Space for Multi-DOFs Bilateral Teleoperation Systems Using Position Sensors in Unstructured Environments
Authors
김기훈정완균M. Cenk Cavusoglu
Keywords
robotics; haptic interface; obstacle avoidance; restriction space projection
Issue Date
2009-10
Publisher
IEEE transactions on robotics
Citation
VOL 25, NO 5, 1150-1158
Abstract
This paper investigates a novel position-sensor-based force reflection framework for multi-degree-of-freedom (DOF) bilateral teleoperation systems in unstructured environments. The conventional positionsensor- based force reflection method, which is known as position error feedback, may generate grossly inaccurate force reflection directions during collisions involving the slave manipulator links. The proposed restriction space projection framework calculates the instantaneous restriction space to provide the accurate force reflection, regardless of kinematic dissimilarity (KDS) conditions of bilateral teleoperation systems. Simulation results confirmed the validity of the proposed framework in a KDS bilateral teleoperation system under various constraint conditions.
URI
https://pubs.kist.re.kr/handle/201004/35956
ISSN
1552-3098
Appears in Collections:
KIST Publication > Article
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