کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10327186 | 680834 | 2005 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Implementation of position-force and position-position teleoperator controllers with cable-driven mechanisms
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
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چکیده انگلیسی
Bilateral teleoperation involves the motion control of a slave mechanism with a master mechanism that is capable of reflecting the sensory information such as force and torque signals captured from the master mechanism. Normally, the master and slave mechanisms in a teleoperator system are physically separated and are connected via some communication interface. As technology in robotic mechanism design continuously develops, advanced teleoperator systems are emerging. From the handling of hazardous and delicate materials in nuclear decommissioning to medical applications such as orthopedic and laparoscopic surgery, the demand for high bandwidth and fine-force reflecting bilateral teleoperator systems has become more and more important. This paper focuses on the implementation of an advanced master-slave teleoperator system using cable-driven WAM and PHANToM devices. Special emphasis is placed on the pragmatic issues on the implementation based two different designs of the teleoperator control schemes and the performance of the system under these two teleoperator control schemes.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 21, Issue 2, April 2005, Pages 145-152
Journal: Robotics and Computer-Integrated Manufacturing - Volume 21, Issue 2, April 2005, Pages 145-152
نویسندگان
H.Y.K. Lau, L.C.C. Wai,