Search: onr:"swepub:oai:lup.lub.lu.se:396021c6-c9f4-4ec1-9073-d618f6c89975" >
Trajectory Generati...
Trajectory Generation for Assembly Tasks Via Bilateral Teleoperation
-
- Ghazaei, Mahdi (author)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
-
Cho, Jang Ho (author)
-
- Johansson, Rolf (author)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
-
show more...
-
- Robertsson, Anders (author)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
-
Boje, Edward (editor)
-
Xia, Xiaohua (editor)
-
show less...
-
(creator_code:org_t)
- 2014
- 2014
- English.
-
In: Preprints of the 19th World Congress of the International Federation of Automatic Control (IFAC2014), Cape Town, South Africa. August 24-29, 2014. ; 47:3, s. 10230-10235
- Related links:
-
https://portal.resea... (primary) (free)
-
show more...
-
http://dx.doi.org/10... (free)
-
https://lup.lub.lu.s...
-
https://doi.org/10.3...
-
https://lup.lub.lu.s...
-
show less...
Abstract
Subject headings
Close
- Abstract in UndeterminedFor assembly tasks, the knowledge of both trajectory and forces are usually required. Consequently, we may use kinesthetics or teleoperation for recording human demonstrations. In order to have a more natural interaction, the operator has to be provided with a sense of touch. We propose a bilateral teleoperation system which is customized for this purpose. We introduce different coordinate frames to make the design of a 6-DOF teleoperation straightforward. Moreover, we suggest using tele-admittance, which simplifies instructing the robot. The compliance due to the slave controller allows the robot to react quickly and reduces the risk of damaging the workpiece.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Publication and Content Type
- kon (subject category)
- ref (subject category)
Find in a library
To the university's database