Master-Slave Manipulator via Adaptive Control
نویسندگان
چکیده
منابع مشابه
Master-Slave Teleoperation Method of Redundant Manipulator
Abstract. This paper introduces a master-slave control method of teleoperating a redundant manipulator with double handles. The master handles send motion commands in the form of increments. The mapping module transforms the commands into homogeneous matrices. And the slave manipulator links discrete motion commands in the mode of PVAT automatically, by inverse kinematics and fifth-order polyno...
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近些年来,随着计算机的计算能力和存储能力的飞速发展,科学计算的规模越来越大,在气象、生物技术、 油藏模拟、核技术等领域,用于计算的网格已达到百万、千万乃至数十亿,计算的数据结果也已达到 GB 乃至 TB 大小。而和计算、存储技术的飞速发展相比,由于受材料、电子等工艺的限制,计算机的显示尺寸的发展相对滞 后。如何能够快速、准确的表现海量数据已经成为一个亟需解决的问题。它不仅包括如何以更大的屏幕来显示数 据,还包括如何以更快的速度来处理数据。 使用并行计算技术的大屏幕显示是解决上述问题一个很好的途径。采用多个显示设备取代原来的单个显示设 备使得显示屏幕增大为相应的倍数;各个显示设备由单独的计算机进行驱动,计算任务的分担使得显示速度也大 大提高。 除了在科学计算方面的应用外,大屏幕显示作为一种“半沉浸式”的虚拟环境,在虚拟战场、视频会议、公 共场合演示等方面也有着广泛的应用。 大屏幕显示技...
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This article presents a novel adaptive bilateral control scheme for obtaining ideal responses for teleoperation systems with uncertainties. A condition that is equivalent to getting an ideal response in teleoperation has been found to be making the closed-loop dynamics of master and slave manipulators a similar form. An adaptive approach is applied to achieve similarity for the uncertain master...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1993
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.29.78