作者其他论文
文献详情
Predictive Approach for Sensorless Bimanual Teleoperation Under Random Time Delays With Adaptive Fuzzy Control
文献类型:期刊
作者:Lu, Zhenyu[1]  Huang, Panfeng[2]  Liu, Zhengxiong[3]  
机构:Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Xian 710065, Shaanxi, Peoples R China.; Northwestern Polytech Univ, Sch Astronaut, Natl Key Lab Aerosp Flight Dynam, Xian 710065, Shaanxi, Peoples R China.
通讯作者:Huang, PF (reprint author), Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Xian 710065, Shaanxi, Peoples R China.
年:2018
期刊名称:IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS影响因子和分区
卷:65
期:3
页码范围:2439-2448
增刊:正刊
收录情况:SCI(E)(WOS:000418643200051)  EI(20173604116991)  
所属部门:航天学院
被引频次:13
人气指数:290
浏览次数:283
基金:National Nature Science Foundation of China [11272256, 60805034]
关键词:Adaptive fuzzy control; bimanual teleoperation; predictive approach; robotic manipulators; time delay
摘要:
Robot teleoperation techniques are applied in industrial automation, space, and surgery. Considering the high cost of force-torque (F/T) sensors, an "indirect estimation" of the external force is preferable to "direct sensing" of the force. This study provides a predictive control method for a bimanual teleoperation system without F/T and acceleration sensors. Two types of mirror predictors are built into the control architecture. One of them is a position predictor estimating the position state ...More
0
评论(0 条评论)
登录