Teleoperation with Kinematically Redundant Robot Manipulators with Sub-Task Objectives
Conference paper > Full Text · 2008
Authors: Nitendra Nath, Enver TATLICIOĞLU, Darren M. Dawson
47th IEEE Conference on Decision and Control, Mexico, International, Verbal, Full Text, 2008-2008, WoS, vol , pp 4320-4325
Summary
In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunov-based stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective.