Show simple item record

dc.contributor.authorKapadia, Apoorva D.
dc.contributor.authorWalker, Ian D.
dc.contributor.authorTatlıcıoğlu, Enver
dc.date.accessioned2017-03-22T08:17:39Z
dc.date.available2017-03-22T08:17:39Z
dc.date.issued2012
dc.identifier.citationKapadia, 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.2012.6385990en_US
dc.identifier.isbn9781467317375
dc.identifier.issn2153-0858
dc.identifier.urihttp://doi.org/10.1109/IROS.2012.6385990
dc.identifier.urihttp://hdl.handle.net/11147/5121
dc.description25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012; Vilamoura, Algarve; Portugal; 7 October 2012 through 12 October 2012en_US
dc.description.abstractIn 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.en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.isversionof10.1109/IROS.2012.6385990en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectManipulatorsen_US
dc.subjectMaster systemsen_US
dc.subjectRedundant robotsen_US
dc.subjectSecondary controlen_US
dc.subjectTeleoperateden_US
dc.subjectIntelligent systemsen_US
dc.titleTeleoperation control of a redundant continuum manipulator using a non-redundant rigid-link masteren_US
dc.typeconferenceObjecten_US
dc.contributor.authorIDTR123720en_US
dc.contributor.iztechauthorTatlıcıoğlu, Enver
dc.relation.journal25th IEEE/RSJ International Conference on Robotics and Intelligent Systemsen_US
dc.contributor.departmentİYTE, Mühendislik Fakültesi, Elektrik-Elektronik Mühendisliği Bölümüen_US
dc.identifier.startpage3105en_US
dc.identifier.endpage3110en_US
dc.identifier.wosWOS:000317042703107
dc.identifier.scopusSCOPUS:2-s2.0-84872337748
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record