Bilateral teleoperation of flexible-joint robot system

Weiquan Ye; Dehong Wang; Dihua Zhai; Zhijun Li; Yuanqing Xia

doi:10.1109/WCICA.2014.7053012

Bilateral teleoperation of flexible-joint robot system

Weiquan Ye, Dehong Wang, Dihua Zhai, Zhijun Li^*, Yuanqing Xia

^*此作品的通讯作者

自动化学院

South China University of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

3 引用（Scopus）

摘要

In this paper the problem of bilateral teleoperation of flexible joint manipulators is investigated. Different from the previous works on bilateral teleoperation systems, we investigate the underactuated robotic manipulators instead of the fully actuated one. Specifically, the master and slave robots exhibit joint flexibility. Given that the time-varying delay, the master/ slave robots are coupled using the PD type control strategy, the nonlinear master-slave teleoperation system is shown to be asymptotic stable. Simulations results are finally presented to verify the proposed results.

源语言	英语
主期刊名	Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1911-1916
页数	6
版本	March
ISBN（电子版）	9781479958252
DOI	https://doi.org/10.1109/WCICA.2014.7053012
出版状态	已出版 - 2 3月 2015
活动	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, 中国期限: 29 6月 2014 → 4 7月 2014

出版系列

姓名	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
编号	March
卷	2015-March

会议

会议	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
国家/地区	中国
市	Shenyang
时期	29/06/14 → 4/07/14

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10.1109/WCICA.2014.7053012

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链接到 Scopus 的出版物

引用此

Ye, W., Wang, D., Zhai, D., Li, Z., & Xia, Y. (2015). Bilateral teleoperation of flexible-joint robot system. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March 编辑, 页码 1911-1916). 文章 7053012 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); 卷 2015-March, 号码 March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2014.7053012

Ye, Weiquan ; Wang, Dehong ; Zhai, Dihua 等. / Bilateral teleoperation of flexible-joint robot system. Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. 编辑 Institute of Electrical and Electronics Engineers Inc., 2015. 页码 1911-1916 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March).

@inproceedings{403ac5370b3a49ebb0878a1939bf4265,

title = "Bilateral teleoperation of flexible-joint robot system",

abstract = "In this paper the problem of bilateral teleoperation of flexible joint manipulators is investigated. Different from the previous works on bilateral teleoperation systems, we investigate the underactuated robotic manipulators instead of the fully actuated one. Specifically, the master and slave robots exhibit joint flexibility. Given that the time-varying delay, the master/ slave robots are coupled using the PD type control strategy, the nonlinear master-slave teleoperation system is shown to be asymptotic stable. Simulations results are finally presented to verify the proposed results.",

keywords = "Flexible joint, Motion synchronization, PD type controller, Time-varying delays, Underactuated",

author = "Weiquan Ye and Dehong Wang and Dihua Zhai and Zhijun Li and Yuanqing Xia",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",

year = "2015",

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doi = "10.1109/WCICA.2014.7053012",

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series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Ye, W, Wang, D, Zhai, D, Li, Z & Xia, Y 2015, Bilateral teleoperation of flexible-joint robot system. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March 编辑, 7053012, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 号码 March, 卷 2015-March, Institute of Electrical and Electronics Engineers Inc., 页码 1911-1916, 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014, Shenyang, 中国, 29/06/14. https://doi.org/10.1109/WCICA.2014.7053012

Bilateral teleoperation of flexible-joint robot system. / Ye, Weiquan; Wang, Dehong; Zhai, Dihua 等.
Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. 编辑 Institute of Electrical and Electronics Engineers Inc., 2015. 页码 1911-1916 7053012 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); 卷 2015-March, 号码 March).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Bilateral teleoperation of flexible-joint robot system

AU - Ye, Weiquan

AU - Wang, Dehong

AU - Zhai, Dihua

AU - Li, Zhijun

AU - Xia, Yuanqing

PY - 2015/3/2

Y1 - 2015/3/2

N2 - In this paper the problem of bilateral teleoperation of flexible joint manipulators is investigated. Different from the previous works on bilateral teleoperation systems, we investigate the underactuated robotic manipulators instead of the fully actuated one. Specifically, the master and slave robots exhibit joint flexibility. Given that the time-varying delay, the master/ slave robots are coupled using the PD type control strategy, the nonlinear master-slave teleoperation system is shown to be asymptotic stable. Simulations results are finally presented to verify the proposed results.

AB - In this paper the problem of bilateral teleoperation of flexible joint manipulators is investigated. Different from the previous works on bilateral teleoperation systems, we investigate the underactuated robotic manipulators instead of the fully actuated one. Specifically, the master and slave robots exhibit joint flexibility. Given that the time-varying delay, the master/ slave robots are coupled using the PD type control strategy, the nonlinear master-slave teleoperation system is shown to be asymptotic stable. Simulations results are finally presented to verify the proposed results.

KW - Flexible joint

KW - Motion synchronization

KW - PD type controller

KW - Time-varying delays

KW - Underactuated

UR - http://www.scopus.com/inward/record.url?scp=84932119990&partnerID=8YFLogxK

U2 - 10.1109/WCICA.2014.7053012

DO - 10.1109/WCICA.2014.7053012

M3 - Conference contribution

AN - SCOPUS:84932119990

T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

SP - 1911

EP - 1916

BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014

Y2 - 29 June 2014 through 4 July 2014

ER -

Ye W, Wang D, Zhai D, Li Z, Xia Y. Bilateral teleoperation of flexible-joint robot system. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March 编辑 Institute of Electrical and Electronics Engineers Inc. 2015. 页码 1911-1916. 7053012. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March). doi: 10.1109/WCICA.2014.7053012

Bilateral teleoperation of flexible-joint robot system

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