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dc.contributor.authorTaner, Barış
dc.contributor.authorDede, Mehmet İsmet Can
dc.contributor.authorUzunoğlu, Emre
dc.date.accessioned2018-11-30T08:36:19Z
dc.date.available2018-11-30T08:36:19Z
dc.date.issued2015-06
dc.identifier.citationTaner, B., Dede, M. İ. C., and Uzunoğlu, E. (2015). Applying model mediation method to a mobile robot bilateral teleoperation system experiencing time delays in communication.Paper presented at the Proceedings of Trc-IFToMM Symposium on Theory of Machines and Mechanisms, Izmir Institute of Technology, Izmir, 14-17 June (pp. 606-614).en_US
dc.identifier.isbn978-605-84220-0-1
dc.identifier.urihttp://hdl.handle.net/11147/7025
dc.description.abstractTeleoperation systems consist of two subsystems namely, the master and the slave. Master is used by the human operator to send commands to the slave to achieve a task. In bilateral teleoperation, the interaction forces acquired from the slave sub-system is sent to the master to increase the level of tele-presence. In this kind of a setting, data has to be transferred through a communication line in which package losses and time delays occur. Such deficiencies in the communication line results in stability problems in the system. In this paper, HIPHAD desktop haptic device as the master sub-system and an omni-directional mobile robot as the slave subsystem is used to develop an unlimited workspace teleoperation system. The system’s stability and tracking performance under a constant time delay is measured for direct teleoperation and when model mediation method is applied to ensure stability. The results of the tests are given and the conclusions are derived.en_US
dc.description.sponsorshipThe Scientific and Technological Research Council of Turkeyen_US
dc.language.isoengen_US
dc.publisherMakina Teorisi Derneğien_US
dc.relationinfo:eu-repo/grantAgreement/TUBITAK/EEEAG/113E147en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectHapticsen_US
dc.subjectUnlimited-workspace teleoperationen_US
dc.subjectModel mediation techniqueen_US
dc.subjectBilateral teleoperationen_US
dc.titleApplying model mediation method to a mobile robot bilateral teleoperation system experiencing time delays in communicationen_US
dc.typeconferenceObjecten_US
dc.typesubmittedVersion
dc.contributor.authorIDTR198014en_US
dc.contributor.authorIDTR26957en_US
dc.contributor.institutionauthorTaner, Barış
dc.contributor.institutionauthorDede, Mehmet İsmet Can
dc.contributor.institutionauthorUzunoğlu, Emre
dc.relation.journalProceedings of Trc-IFToMM Symposium on Theory of Machines and Mechanismsen_US
dc.contributor.departmentIzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.startpage606en_US
dc.identifier.endpage614en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US


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