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Paper
title

increasing positioning accuracy and vibration control in bilateral teleoperation system with flexible link slave robot

Credit to Download: 1 | Page Numbers 8 | Abstract Views: 1120
Year: 2012
COI code: ISAV02_125
Paper Language: English

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Authors increasing positioning accuracy and vibration control in bilateral teleoperation system with flexible link slave robot

  mohadeseh yaryan - amirkabir university
mahyar naraghi -
seyed mehdi rezaei -
mohammad zareinejad -

Abstract:

this paper investigates a new design procedure for output tracking control of bilateral teleoperation system with flexible link slave robot . This proposed hybrid scheme consists of collocated proportionalderivative PD as feedback controller and inpurt shaping IS controller for input shaping the positive and negatie input shapers with different constraints are proposed based on the properties of the system stability analysis of proposed control algorithm based on lyapunov stability theorem method in the presence of time delays on com munication channels is proved.

Keywords:

bilateral nonlinear teleperation,flexible slave robot ,input shaping -PD controller ,vibration control in flexible manipulators ,time delayed communication

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COI code: ISAV02_125

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yaryan, mohadeseh; mahyar naraghi; seyed mehdi rezaei & mohammad zareinejad, 2012, increasing positioning accuracy and vibration control in bilateral teleoperation system with flexible link slave robot, 2nd International Conference on Acoustics and Vibration, تهران, دانشگاه صنعتي شريف, https://www.civilica.com/Paper-ISAV02-ISAV02_125.htmlInside the text, wherever referred to or an achievement of this article is mentioned, after mentioning the article, inside the parental, the following specifications are written.
First Time: (yaryan, mohadeseh; mahyar naraghi; seyed mehdi rezaei & mohammad zareinejad, 2012)
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Type: state university
Paper No.: 19662
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