Passive bilateral control and tool dynamics rendering for nonlinear mechanical teleoperators

IEEE Transactions on Robotics

Volumn 21, Issue 5, 2005, Pages 936-951

  Lee, Dongjun ^a   Li, Perry Y ^b  

^a United States of America   (United States)

^b University of Minnesota   (United States)

Author keywords

Avoidance; Decomposition; Guidance; Inertia scaling; Nonlinear teleoperator; Passive control implementation; Passivity; Power scaling

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; COLLISION AVOIDANCE; DEGREES OF FREEDOM (MECHANICS); LYAPUNOV METHODS; MATHEMATICAL MODELS; MATRIX ALGEBRA;

INERTIA SCALING; NONLINEAR TELEOPERATOR; PASSIVE CONTROL IMPLEMENTATION; POWER SCALING;

ROBOTICS;

EID: 27144539542     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.852259     Document Type: Article

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