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Synchronized control for teleoperation with different configurations and communication delay
http://hdl.handle.net/2297/9538
http://hdl.handle.net/2297/95383898ee61-a3c6-48e7-8973-4431c67da88f
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-NAMERIKAWA-T-2546.pdf (647.4 kB)
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
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| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | Synchronized control for teleoperation with different configurations and communication delay | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| 著者 |
Kawada, Hisanosuke
× Kawada, Hisanosuke× Yoshida, Kouei× Namerikawa, Toru |
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| 提供者所属 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | 金沢大学大学院自然科学研究科知能情報・数理 | |||||
| 書誌情報 |
Proceedings of the IEEE Conference on Decision and Control p. 2546-2551, 発行日 2008-01-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 0191-2216 | |||||
| NCID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AA10474572 | |||||
| DOI | ||||||
| 関連タイプ | isIdenticalTo | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/CDC.2007.4434270 | |||||
| 出版者 | ||||||
| 出版者 | Institute of Electrical and Electronics Engineers (IEEE) | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper deals with a control for teleoperation with different configurations and communication delays. We propose a synchronized control with individual gains and power scaling in the task space. In this method, the end-effector motion and force relationship between the master and slave robots can be specified freely in the task space and the control gains can be independently selected appropriately for the master and slave robots. The delay-independent asymptotic stability of the origin of the position and velocity errors is proven by using passivity of the systems and Lyapunov stability methods. The proposed control law achieves synchronization with power scaling. Several experimental results show the effectiveness of our proposed method. © 2007 IEEE. | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| シリーズ | ||||||
| 関連名称 | 4434270 | |||||
