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Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem
http://hdl.handle.net/2297/24275
http://hdl.handle.net/2297/2427503db4bae-ab71-498d-b32b-277a2a90a870
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-DO-D-N-4079.pdf (956.4 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 | Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem | |||||
| 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 |
Do, Nam Duc
× Do, Nam Duc× Namerikawa, Toru |
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| 提供者所属 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | 金沢大学理工研究域電子情報学系 | |||||
| 書誌情報 |
ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings 号 5334253, p. 4079-4086, 発行日 2009-01-01 |
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| 出版者 | ||||||
| 出版者 | IEEE = Institute of Electrical and Electronics Engineers | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm. © 2009 SICE.. | |||||
| 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 | |||||
