6,255 research outputs found
Gain-scheduling control of a teleoperation system
No full textThis paper presents a control design framework for robust teleoperation. The teleoperation system with uncertainties is modeled as a linear parameter varying plant to employ the gain-scheduling control framework. The time-varying transmission delay, disturbances, and uncertainty of the environment are considered in the design of the control. The usual assumption that the human operator and the environment are passive is not made in this method. The control scheme employs an online estimation of the environment including disturbance and transmission time delay between master and slave. Simulation results show that position and force tracking errors are small, and the system shows stable behavior in spite of the uncertainties. A transparency analysis in the frequency domain shows that the developed control scheme guarantees perfect transparency in the low frequencies
Temperature distributions in a pebble with dispersed fuel particles calculated by Monte Carlo method
No full textVisual measurement of a 3-D plane pose by a cylindrical structured light
No full textproceedings of the 1993 IEEWRSJ Inumauonal Conference on Intelligent Robots and Systems Yokohama, Japan July 26-30.199
An optical sensor of a probing system for inspection of PCBs
No full textCopyright 1998 Society of Photo-Optical Instrumentation Engineers
Hand/eye calibration of a robot arm with a 3D visual sensor
No full textCopyright (2001) Society of Photo-Optical Instrumentation Engineers
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