Abstract
This paper investigates, as a first step for visual feedback bilateral control, visual motion observer-based bilateral attitude and position control for eye-in-hand mobile robot teleoperation systems. Firstly, visual motion observers for eye-in-hand mobile robots are presented. Then, a visual motion observer-based bilateral and coordination control laws for attitude maneuvers are proposed. Moreover, visual motion observer-based bilateral position control and stability analysis are presented. The main contribution of this paper is to show that the bilateral control framework in which teleoperation systems utilize visual information to obtain the relative poses of the master and slave robots can be provided based on passivity. Finally, the effectiveness of the proposed framework is verified through computer simulations and experiments.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Control Applications |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 623-630 |
| Number of pages | 8 |
| ISBN (Print) | 9781479915590 |
| DOIs | |
| Publication status | Published - 2013 |
| Event | 2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad Duration: 2013 Aug 28 → 2013 Aug 30 |
Other
| Other | 2013 IEEE International Conference on Control Applications, CCA 2013 |
|---|---|
| City | Hyderabad |
| Period | 13/8/28 → 13/8/30 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Mathematics(all)