DC Field | Value | Language |
---|---|---|
dc.contributor.author | Nabeel, Muhammad | ko |
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.contributor.author | Jafari, Aghil | ko |
dc.date.accessioned | 2021-03-30T08:10:16Z | - |
dc.date.available | 2021-03-30T08:10:16Z | - |
dc.date.created | 2021-03-30 | - |
dc.date.issued | 2015-07-07 | - |
dc.identifier.citation | 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp.1731 - 1736 | - |
dc.identifier.issn | 2159-6255 | - |
dc.identifier.uri | http://hdl.handle.net/10203/282239 | - |
dc.description.abstract | This paper introduces a network formulation of bilateral teleoperation systems with admittance-type master interfaces to improve their stability range with Time Domain Passivity Approach (TDPA). Since traditional network representation of admittance-type teleoperation was not enough to detect the active energy, a new representation of admittance-type teleoperation system is formulated, using dependent effort/flow concepts. The proposed method, allows choosing small values of inertia in admittance model, which provides high transparency in free space interaction. Using the conventional mechanical-electrical analogy, the teleoperation system is modeled in an electrical network domain. Then, passivity of admittance-type teleoperation is analyzed and the TDPA is applied to passivate the system. Experimental results verified the effectiveness of the proposed approach. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Network formulation and stability improvement of a bilateral teleoperation system with admittance-type master interfaces | - |
dc.type | Conference | - |
dc.identifier.wosid | 000381493900299 | - |
dc.identifier.scopusid | 2-s2.0-84951105594 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 1731 | - |
dc.citation.endingpage | 1736 | - |
dc.citation.publicationname | 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) | - |
dc.identifier.conferencecountry | KO | - |
dc.identifier.conferencelocation | BEXCO, Busan | - |
dc.identifier.doi | 10.1109/AIM.2015.7222796 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.nonIdAuthor | Nabeel, Muhammad | - |
dc.contributor.nonIdAuthor | Jafari, Aghil | - |
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