Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

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Department: search.filters.department.İzmir Institute of Technology. Electrical and Electronics EngineeringSubject: search.filters.subject.Intelligent systems

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  • Conference Object
    Citation - WoS: 16
    Citation - Scopus: 18
    Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master
    (Institute of Electrical and Electronics Engineers Inc., 2012) Kapadia, Apoorva D.; Walker, Ian D.; Tatlıcıoğlu, Enver
    In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask. © 2012 IEEE.