Performance of a time-delayed bilateral teleoperation: Peg-in-hole and surface tracking

被引：0
|
作者：
Park, Sungjun [1 ]
Park, Sangsoo [2 ]
Baek, Sang-Yun [1 ]
Ryu, Jeha [1 ]
机构：
[1] Gwangju Institute Science and Technology, School of Mechatronics
[2] Gwangju Institute Science and Technology, Department of Medical System Engineering
来源：
Ryu, Jeha (ryu@gist.ac.kr) | 1600年 / Institute of Control, Robotics and Systems卷 / 20期
关键词：
Bilateral teleoperation; Energy-bounding approach; Peg-in-hole; Surface tracking;
D O I：
10.5302/J.ICROS.2014.14.9036
中图分类号：
学科分类号：
摘要：
This paper presents some real performance of two typical bilateral teleoperation benchmark tasks: peg-in-hole and surface tracking tasks. The tasks are performed by an energy-bounding algorithm in the master control and position-based impedance algorithm in the slave control. Performance is analyzed for the position-force tracking capabilities from free space motion to surface contacting motion. In addition, preliminary user performance is evaluated by measuring the completion time and maximum/average contact forces. The quality of the measured performance is also compared with that of other existing approaches. © ICROS 2014.
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页码：789 / 794
页数：5
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