DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.contributor.author | Kwon, Dong-Soo | ko |
dc.contributor.author | Lee, Pan-Mook | ko |
dc.contributor.author | Hong, Seok-Won | ko |
dc.date.accessioned | 2021-07-27T05:50:13Z | - |
dc.date.available | 2021-07-27T05:50:13Z | - |
dc.date.created | 2021-07-26 | - |
dc.date.issued | 2000-04-24 | - |
dc.identifier.citation | 2000 IEEE International Conference on Robotics and Automation (ICRA), pp.3114 - 3119 | - |
dc.identifier.uri | http://hdl.handle.net/10203/286853 | - |
dc.description.abstract | A robust teleoperation controller design method for an underwater manipulator is proposed considering the master and the underwater slave separately. To achieve transparency and stability for a teleoperation of an underwater manipulator in unknown environments with time-varying uncertainties such as added mass, buoyancy, hydraulic drag and friction effect, an adaptive sliding mode control scheme is proposed for robust position tracking control of slave manipulator. To guarantee a force transparency in the master side, disturbance observer is used as a local controller for compensating a friction and coupled nonlinear dynamic effects of the master manipulator. Numerical simulations are performed to demonstrate the transparency and robustness of the proposed controller. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.title | Design of a teleoperation controller for an underwater manipulator | - |
dc.type | Conference | - |
dc.identifier.scopusid | 2-s2.0-0033692563 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 3114 | - |
dc.citation.endingpage | 3119 | - |
dc.citation.publicationname | 2000 IEEE International Conference on Robotics and Automation (ICRA) | - |
dc.identifier.conferencecountry | US | - |
dc.identifier.conferencelocation | San Francisco, CA | - |
dc.identifier.doi | 10.1109/ROBOT.2000.845142 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.localauthor | Kwon, Dong-Soo | - |
dc.contributor.nonIdAuthor | Lee, Pan-Mook | - |
dc.contributor.nonIdAuthor | Hong, Seok-Won | - |
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