Teleoperation With Kinematically Redundant Robot Manipulators With Sub-Task Objectives
| dc.contributor.author | Nath, Nitendra | |
| dc.contributor.author | Tatlıcıoğlu, Enver | |
| dc.contributor.author | Dawson, Darren M. | |
| dc.coverage.doi | 10.1109/CDC.2008.4739142 | |
| dc.date.accessioned | 2016-10-27T07:19:49Z | |
| dc.date.available | 2016-10-27T07:19:49Z | |
| dc.date.issued | 2008 | |
| dc.description | 47th IEEE Conference on Decision and Control, CDC 2008; Cancun; Mexico; 9 December 2008 through 11 December 2008. | en_US |
| dc.description.abstract | 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. | en_US |
| dc.identifier.citation | Nath, N., Tatlıcıoğlu, E., and Dawson, D. M. (2008, December 9-11). Teleoperation with kinematically redundant robot manipulators with sub-task objectives. Paper presented at the 47th IEEE Conference on Decision and Control. doi:10.1109/CDC.2008.4739142 | en_US |
| dc.identifier.doi | 10.1109/CDC.2008.4739142 | en_US |
| dc.identifier.issn | 0191-2216 | |
| dc.identifier.issn | 0263-5747 | |
| dc.identifier.issn | 1469-8668 | |
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| dc.identifier.uri | http://doi.org/10.1109/CDC.2008.4739142 | |
| dc.identifier.uri | http://hdl.handle.net/11147/2340 | |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | IEEE 47th Conference on Decision and Control, CDC 2008 | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Asymptotic analysis | en_US |
| dc.subject | Asymptotic tracking | en_US |
| dc.subject | Robot applications | en_US |
| dc.subject | Redundant robots | en_US |
| dc.subject | Slave systems | en_US |
| dc.title | Teleoperation With Kinematically Redundant Robot Manipulators With Sub-Task Objectives | en_US |
| dc.type | Conference Object | en_US |
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| gdc.author.institutional | Tatlıcıoğlu, Enver | |
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| gdc.description.department | İzmir Institute of Technology. Electrical and Electronics Engineering | en_US |
| gdc.description.endpage | 4325 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q2 | |
| gdc.description.startpage | 4320 | en_US |
| gdc.description.volume | 27 | |
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| gdc.oaire.keywords | Robot applications | |
| gdc.oaire.keywords | Asymptotic analysis | |
| gdc.oaire.keywords | Slave systems | |
| gdc.oaire.keywords | Redundant robots | |
| gdc.oaire.keywords | Asymptotic tracking | |
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