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.

元の言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Control Applications
出版者Institute of Electrical and Electronics Engineers Inc.
ページ623-630
ページ数8
ISBN(印刷物)9781479915590
DOI
出版物ステータス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
Hyderabad
期間13/8/2813/8/30

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Teleoperation
Position control
End effectors
Remote control
Mobile Robot
Mobile robots
Observer
Motion
Attitude control
Position Control
Feedback control
Robots
Computer simulation
Passivity
Visual System
Attitude Control
Computer Experiments
Experiments
Stability Analysis
Computer Simulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

これを引用

Murao, T., Kawai, H., Tsuruo, Y., & Fujita, M. (2013). Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation. : Proceedings of the IEEE International Conference on Control Applications (pp. 623-630). [6662819] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2013.6662819

Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation. / Murao, Toshiyuki; Kawai, Hiroyuki; Tsuruo, Yusei; Fujita, Masayuki.

Proceedings of the IEEE International Conference on Control Applications. Institute of Electrical and Electronics Engineers Inc., 2013. p. 623-630 6662819.

研究成果: Conference contribution

Murao, T, Kawai, H, Tsuruo, Y & Fujita, M 2013, Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation. : Proceedings of the IEEE International Conference on Control Applications., 6662819, Institute of Electrical and Electronics Engineers Inc., pp. 623-630, 2013 IEEE International Conference on Control Applications, CCA 2013, Hyderabad, 13/8/28. https://doi.org/10.1109/CCA.2013.6662819
Murao T, Kawai H, Tsuruo Y, Fujita M. Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation. : Proceedings of the IEEE International Conference on Control Applications. Institute of Electrical and Electronics Engineers Inc. 2013. p. 623-630. 6662819 https://doi.org/10.1109/CCA.2013.6662819
Murao, Toshiyuki ; Kawai, Hiroyuki ; Tsuruo, Yusei ; Fujita, Masayuki. / Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation. Proceedings of the IEEE International Conference on Control Applications. Institute of Electrical and Electronics Engineers Inc., 2013. pp. 623-630
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