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Design and development of an educational desktop robot R3D
Robotic desktop devices have been used for academic purposes for a variety of investigation and development studies. Desktop devices for academic/educational purposes have been highly anticipated especially in the fields ...
General subtask controller for redundant robot manipulators
This paper will utilize the property of self-motion for redundant robot manipulators by designing the general subtask controller that control the joint motion in the null-space of the Jacobian matrix. The general subtask ...
Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication
(Cambridge University Press, 2017-05)
SUMMARY In this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees ...