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CDC
2008
IEEE

Teleoperation with kinematically redundant robot manipulators with sub-task objectives

9 years 8 months ago
Teleoperation with kinematically redundant robot manipulators with sub-task objectives
: In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunovbased stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective.
Nitendra Nath, Enver Tatlicioglu, Darren M. Dawson
Added 29 May 2010
Updated 29 May 2010
Type Conference
Year 2008
Where CDC
Authors Nitendra Nath, Enver Tatlicioglu, Darren M. Dawson
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