Task-oriented Control of Scaled Telemanipulation System

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Variable delay in scaled port-Hamiltonian telemanipulation

In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery, micromanipulation). Scaling forces and velocities means scaling the power that is exchanged between master and slave sides through the communication channel. In this paper we show how it is possible to embed power scaling in the scattering based communication ch...

متن کامل

Dimensional Analysis and Selective Distortion in Scaled Bilateral Telemanipulation

ThiJ puper addresses the issue of dynamic similarity and intensive property invariance in scaled bilateral naunipulation, and ofsers a design methodology bused on these considerations. Dimensional analysis methods are utilized to form the basis of a constrained optimization problem that enables selection of a force scaling factor that minimizes the intensive distortion of the environment. The p...

متن کامل

Precision Control of a Piezo-Actuated Micro Telemanipulation System

Piezoelectric actuators are widely used in micro manipulation applications. However hysteresis nonlinearity limits accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. T...

متن کامل

Control in task-oriented dialogues

In this paper, we explore the mechanisms by which conversants control the direction of a dialogue. We find further evidence that control in task-oriented dialogues is subordinate to discourse structure. The initiator of a discourse segment has control; the non-initiator can contribute to the purpose of the segment, but this does not result in that person taking over control. The proposal has im...

متن کامل

Functional Factors in Telemanipulation Systems Effect of System Bandwidth in Task Performance

This work presents a definition of functional factors of the telemanipulation system and propose a factors’ classification. Using this classification an experimental study was carried out in order to find the effect of system bandwidth in task performance. Three principal factors affected by system bandwidth were studied: Image resolution, frame rate and actualization rate of control commands. ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: IEEJ Transactions on Electronics, Information and Systems

سال: 1995

ISSN: 0385-4221,1348-8155

DOI: 10.1541/ieejeiss1987.115.10_1121