Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/2340
Title: Teleoperation with kinematically redundant robot manipulators with sub-task objectives
Authors: Nath, Nitendra
Tatlıcıoğlu, Enver
Dawson, Darren M.
Keywords: Asymptotic analysis
Asymptotic tracking
Robot applications
Redundant robots
Slave systems
Issue Date: 2008
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Nath, N., Tatlıcıoğlu, E., and Dawson, D. M. (2008, December 9-11). Teleoperation with kinematically redundant robot manipulators with sub-task objectives. Paper presented at the 47th IEEE Conference on Decision and Control. doi:10.1109/CDC.2008.4739142
Abstract: In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunovbased stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective.
Description: 47th IEEE Conference on Decision and Control, CDC 2008; Cancun; Mexico; 9 December 2008 through 11 December 2008.
URI: http://doi.org/10.1109/CDC.2008.4739142
http://hdl.handle.net/11147/2340
ISSN: 0191-2216
0191-2216
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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