Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5121
Title: Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master
Authors: Kapadia, Apoorva D.
Walker, Ian D.
Tatlıcıoğlu, Enver
Keywords: Manipulators
Master systems
Redundant robots
Secondary control
Teleoperated
Intelligent systems
Issue Date: 2012
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Kapadia, A. D., Walker, I. D., and Tatlıcıoğlu, E. (2012, October 7-12). Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master. Paper presented at the 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems. doi:10.1109/IROS.2012.6385990
Abstract: In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask. © 2012 IEEE.
Description: 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012; Vilamoura, Algarve; Portugal; 7 October 2012 through 12 October 2012
URI: http://doi.org/10.1109/IROS.2012.6385990
http://hdl.handle.net/11147/5121
ISBN: 9781467317375
ISSN: 2153-0858
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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