Vision-navigated Bilateral Control for Master-slave Teleoperation System

被引：0
|
作者：
Sugimoto, Yasuyuki [1 ]
Murao, Toshiyuki [1 ]
Kawai, Yasunori [2 ]
Kawai, Hiroyuki [1 ]
机构：
[1] Kanazawa Inst Technol, Dept Robot, Haku San, Ishikawa 9240838, Japan
[2] Ishikawa Coll, Natl Inst Technol, Dept Elect Engn, Tsubata, Ishikawa 9290392, Japan
来源：
IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2018年
关键词：
master-slave teleoperation; bilateral control; vision-navigated control; FEEDBACK;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, we consider a vision-navigated bilateral control for master-slave teleoperation system. Firstly, a brief summary of the passivity-based visual feedback system is provided. Next, a vision-navigated teleoperation system is constructed by combining the visual feedback system and the master-slave teleoperation system. After that, we propose the vision-navigated bilateral control law and discuss the stability analysis based on the Lyapunov method. Finally, the simulation results show the validity of the proposed vision-navigated bilateral control.
引用
收藏
页码：2481 / 2486
页数：6
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