NDLI: Stable hybrid remote manipulation system with adaptive environment observer using time-scale transformation

Content Provider	IEEE Xplore Digital Library
Author	Kakizoe, Y. Nakamura, H. Nishitani, H.
Copyright Year	2009
Description	Author affiliation: Graduate school of information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Japan (Kakizoe, Y.; Nakamura, H.; Nishitani, H.)
Abstract	A hybrid remote manipulation system has good transparency between master and slave systems under time delay. In this paper, we propose new adaptive environment observer using time-scale transformation for a hybrid remote manipulation system. Time-scale transformation compensates for nonlinearities in the observer, and we can design parameters of the observer by pole placements. The proposed observer estimates the characteristics of the environment instantly, and enables the system to predict the motion of the slave manipulator under time delay. We confirm the effectiveness of the proposed system by computer simulation and by experiment using actual robot-manipulators with force-moment sensors.
Starting Page	6070
Ending Page	6077
File Size	1477643
Page Count	8
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5399771
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive systems Delay effects Master-slave State feedback Delay estimation Motion estimation Manipulators Computer simulation Robot sensing systems Sensor phenomena and characterization
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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