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Article: Implementation of position-force and position-position teleoperator controllers with cable-driven mechanisms

TitleImplementation of position-force and position-position teleoperator controllers with cable-driven mechanisms
Authors
KeywordsCable-Driven Robots
Force Reflection
Teleoperator System
Issue Date2005
PublisherPergamon. The Journal's web site is located at http://www.elsevier.com/locate/rcim
Citation
Robotics And Computer-Integrated Manufacturing, 2005, v. 21 n. 2, p. 145-152 How to Cite?
AbstractBilateral teleoperation involves the motion control of a slave mechanism with a master mechanism that is capable of reflecting the sensory information such as force and torque signals captured from the master mechanism. Normally, the master and slave mechanisms in a teleoperator system are physically separated and are connected via some communication interface. As technology in robotic mechanism design continuously develops, advanced teleoperator systems are emerging. From the handling of hazardous and delicate materials in nuclear decommissioning to medical applications such as orthopedic and laparoscopic surgery, the demand for high bandwidth and fine-force reflecting bilateral teleoperator systems has become more and more important. This paper focuses on the implementation of an advanced master-slave teleoperator system using cable-driven WAM and PHANToM devices. Special emphasis is placed on the pragmatic issues on the implementation based two different designs of the teleoperator control schemes and the performance of the system under these two teleoperator control schemes. © 2004 Elsevier Ltd. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/155867
ISSN
2015 Impact Factor: 2.077
2015 SCImago Journal Rankings: 1.621
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorLau, HYKen_US
dc.contributor.authorWai, LCCen_US
dc.date.accessioned2012-08-08T08:38:06Z-
dc.date.available2012-08-08T08:38:06Z-
dc.date.issued2005en_US
dc.identifier.citationRobotics And Computer-Integrated Manufacturing, 2005, v. 21 n. 2, p. 145-152en_US
dc.identifier.issn0736-5845en_US
dc.identifier.urihttp://hdl.handle.net/10722/155867-
dc.description.abstractBilateral teleoperation involves the motion control of a slave mechanism with a master mechanism that is capable of reflecting the sensory information such as force and torque signals captured from the master mechanism. Normally, the master and slave mechanisms in a teleoperator system are physically separated and are connected via some communication interface. As technology in robotic mechanism design continuously develops, advanced teleoperator systems are emerging. From the handling of hazardous and delicate materials in nuclear decommissioning to medical applications such as orthopedic and laparoscopic surgery, the demand for high bandwidth and fine-force reflecting bilateral teleoperator systems has become more and more important. This paper focuses on the implementation of an advanced master-slave teleoperator system using cable-driven WAM and PHANToM devices. Special emphasis is placed on the pragmatic issues on the implementation based two different designs of the teleoperator control schemes and the performance of the system under these two teleoperator control schemes. © 2004 Elsevier Ltd. All rights reserved.en_US
dc.languageengen_US
dc.publisherPergamon. The Journal's web site is located at http://www.elsevier.com/locate/rcimen_US
dc.relation.ispartofRobotics and Computer-Integrated Manufacturingen_US
dc.subjectCable-Driven Robotsen_US
dc.subjectForce Reflectionen_US
dc.subjectTeleoperator Systemen_US
dc.titleImplementation of position-force and position-position teleoperator controllers with cable-driven mechanismsen_US
dc.typeArticleen_US
dc.identifier.emailLau, HYK:hyklau@hkucc.hku.hken_US
dc.identifier.authorityLau, HYK=rp00137en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.1016/j.rcim.2004.06.005en_US
dc.identifier.scopuseid_2-s2.0-10444270935en_US
dc.identifier.hkuros103235-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-10444270935&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume21en_US
dc.identifier.issue2en_US
dc.identifier.spage145en_US
dc.identifier.epage152en_US
dc.identifier.isiWOS:000228705600006-
dc.publisher.placeUnited Kingdomen_US
dc.identifier.scopusauthoridLau, HYK=7201497761en_US
dc.identifier.scopusauthoridWai, LCC=7003848392en_US

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