Elitaş, Meltem and Khan, Shahzad and Nergiz, Ahmet Özcan and Şabanoviç, Asif (2008) Function based control for bilateral systems in tele-micromanipulation. In: IEEE The 10th International Workshop on Advanced Motion Control, Trento - Italy
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Abstract
Design of a motion control system should take into
account (a) unconstrained motion performed without interaction
with environment or any other system, and (b) constrained
motion with system in contact with environment or other systems.
Control in both cases can be formulated in terms of maintaining
desired system configuration what makes essentially the same
structure for common tasks: trajectory tracking, interaction force
control, compliance control etc. The same design approach can be
used to formulate control in bilateral systems aimed to maintain
desired functional relations between human and environment
through master and slave motion systems. Implementation of
the methodology is currently being pursued with a custom built
Tele-micromanipulation setup and preliminary results concerning
force/position tracking and transparency between master and
slave are clearly demonstrated.
Item Type: | Papers in Conference Proceedings |
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Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-4661 Electrical engineering. Electronics Nuclear engineering |
Divisions: | Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics |
Depositing User: | Asif Şabanoviç |
Date Deposited: | 22 Oct 2008 08:38 |
Last Modified: | 26 Apr 2022 08:45 |
URI: | https://research.sabanciuniv.edu/id/eprint/9390 |