Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation

Toshiyuki Murao, Hiroyuki Kawai, Yusei Tsuruo, Masayuki Fujita

研究成果: Conference contribution

抄録

This paper investigates, as a first step for visual feedback bilateral control, visual motion observer-based bilateral attitude and position control for eye-in-hand mobile robot teleoperation systems. Firstly, visual motion observers for eye-in-hand mobile robots are presented. Then, a visual motion observer-based bilateral and coordination control laws for attitude maneuvers are proposed. Moreover, visual motion observer-based bilateral position control and stability analysis are presented. The main contribution of this paper is to show that the bilateral control framework in which teleoperation systems utilize visual information to obtain the relative poses of the master and slave robots can be provided based on passivity. Finally, the effectiveness of the proposed framework is verified through computer simulations and experiments.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Control Applications
出版社Institute of Electrical and Electronics Engineers Inc.
ページ623-630
ページ数8
ISBN(印刷版)9781479915590
DOI
出版ステータスPublished - 2013
イベント2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad
継続期間: 2013 8 282013 8 30

Other

Other2013 IEEE International Conference on Control Applications, CCA 2013
CityHyderabad
Period13/8/2813/8/30

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 数学 (全般)

フィンガープリント

「Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル