抄録
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.
| 本文言語 | English |
|---|---|
| ホスト出版物のタイトル | Proceedings of the IEEE International Conference on Control Applications |
| 出版社 | Institute of Electrical and Electronics Engineers Inc. |
| ページ | 623-630 |
| ページ数 | 8 |
| ISBN（印刷版） | 9781479915590 |
| DOI | |
| 出版ステータス | Published - 2013 |
| イベント | 2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad 継続期間: 2013 8月 28 → 2013 8月 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
- 制御およびシステム工学
- コンピュータ サイエンスの応用
- 数学 (全般)