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dc.contributor.authorUzunoğlu, Emre
dc.contributor.authorDede, Mehmet İsmet Can
dc.date.accessioned2017-06-30T08:01:50Z
dc.date.available2017-06-30T08:01:50Z
dc.date.issued2017-05
dc.identifier.citationUzunoğlu, E., and Dede, M.İ.C. (2017). Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication. Robotica, 35(5), 1121-1136. doi:10.1017/S0263574715001010en_US
dc.identifier.issn0263-5747
dc.identifier.urihttps://doi.org/10.1017/S0263574715001010
dc.identifier.urihttp://hdl.handle.net/11147/5817
dc.description.abstractSUMMARY 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-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.en_US
dc.description.sponsorshipScientific and Technological Research Council of Turkey (113E147)en_US
dc.language.isoengen_US
dc.publisherCambridge University Pressen_US
dc.relationinfo:eu-repo/grantAgreement/TUBITAK/EEEAG/113E147en_US
dc.relation.isversionof10.1017/S0263574715001010en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectBilateral teleoperationen_US
dc.subjectCommunication failureen_US
dc.subjectImpedance controlen_US
dc.subjectModel-mediation methoden_US
dc.subjectControllersen_US
dc.titleExtending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communicationen_US
dc.typearticleen_US
dc.contributor.authorIDTR26957en_US
dc.contributor.iztechauthorUzunoğlu, Emre
dc.contributor.iztechauthorDede, Mehmet İsmet Can
dc.relation.journalRoboticaen_US
dc.contributor.departmentİYTE, Mühendislik Fakültesi, Makina Mühendisliği Bölümüen_US
dc.identifier.volume35en_US
dc.identifier.issue5en_US
dc.identifier.startpage1121en_US
dc.identifier.endpage1136en_US
dc.identifier.wosWOS:000399043500007
dc.identifier.scopusSCOPUS:2-s2.0-84949559527
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US


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