Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master
| dc.contributor.author | Kapadia, Apoorva D. | |
| dc.contributor.author | Walker, Ian D. | |
| dc.contributor.author | Tatlıcıoğlu, Enver | |
| dc.contributor.other | 03.05. Department of Electrical and Electronics Engineering | |
| dc.contributor.other | 03. Faculty of Engineering | |
| dc.contributor.other | 01. Izmir Institute of Technology | |
| dc.coverage.doi | 10.1109/IROS.2012.6385990 | |
| dc.date.accessioned | 2017-03-22T08:17:39Z | |
| dc.date.available | 2017-03-22T08:17:39Z | |
| dc.date.issued | 2012 | |
| dc.description | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012; Vilamoura, Algarve; Portugal; 7 October 2012 through 12 October 2012 | en_US |
| dc.description.abstract | In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask. © 2012 IEEE. | en_US |
| dc.identifier.citation | Kapadia, A. D., Walker, I. D., and Tatlıcıoğlu, E. (2012, October 7-12). Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master. Paper presented at the 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems. doi:10.1109/IROS.2012.6385990 | en_US |
| dc.identifier.doi | 10.1109/IROS.2012.6385990 | |
| dc.identifier.doi | 10.1109/IROS.2012.6385990 | en_US |
| dc.identifier.isbn | 9781467317375 | |
| dc.identifier.issn | 2153-0858 | |
| dc.identifier.scopus | 2-s2.0-84872337748 | |
| dc.identifier.uri | http://doi.org/10.1109/IROS.2012.6385990 | |
| dc.identifier.uri | https://hdl.handle.net/11147/5121 | |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Manipulators | en_US |
| dc.subject | Master systems | en_US |
| dc.subject | Redundant robots | en_US |
| dc.subject | Secondary control | en_US |
| dc.subject | Teleoperated | en_US |
| dc.subject | Intelligent systems | en_US |
| dc.title | Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master | en_US |
| dc.type | Conference Object | en_US |
| dspace.entity.type | Publication | |
| gdc.author.id | TR123720 | |
| gdc.author.institutional | Tatlıcıoğlu, Enver | |
| gdc.author.institutional | Tatlıcıoğlu, Enver | |
| gdc.author.yokid | 123720 | |
| gdc.bip.impulseclass | C5 | |
| gdc.bip.influenceclass | C5 | |
| gdc.bip.popularityclass | C5 | |
| gdc.coar.access | open access | |
| gdc.coar.type | text::conference output | |
| gdc.description.department | İzmir Institute of Technology. Electrical and Electronics Engineering | en_US |
| gdc.description.endpage | 3110 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 3105 | en_US |
| gdc.description.wosquality | N/A | |
| gdc.identifier.openalex | W1969062189 | |
| gdc.identifier.wos | WOS:000317042703107 | |
| gdc.oaire.diamondjournal | false | |
| gdc.oaire.impulse | 3.0 | |
| gdc.oaire.influence | 3.4836325E-9 | |
| gdc.oaire.isgreen | true | |
| gdc.oaire.keywords | Manipulators | |
| gdc.oaire.keywords | Intelligent systems | |
| gdc.oaire.keywords | Redundant robots | |
| gdc.oaire.keywords | Master systems | |
| gdc.oaire.keywords | Secondary control | |
| gdc.oaire.keywords | Teleoperated | |
| gdc.oaire.popularity | 2.7732412E-9 | |
| gdc.oaire.publicfunded | false | |
| gdc.oaire.sciencefields | 0209 industrial biotechnology | |
| gdc.oaire.sciencefields | 02 engineering and technology | |
| gdc.openalex.collaboration | International | |
| gdc.openalex.fwci | 2.306 | |
| gdc.openalex.normalizedpercentile | 0.9 | |
| gdc.openalex.toppercent | TOP 10% | |
| gdc.opencitations.count | 10 | |
| gdc.plumx.crossrefcites | 2 | |
| gdc.plumx.mendeley | 25 | |
| gdc.plumx.scopuscites | 17 | |
| gdc.scopus.citedcount | 17 | |
| gdc.wos.citedcount | 15 | |
| relation.isAuthorOfPublication | 2d96991f-198b-4745-9b08-d6a23134f04c | |
| relation.isAuthorOfPublication.latestForDiscovery | 2d96991f-198b-4745-9b08-d6a23134f04c | |
| relation.isOrgUnitOfPublication | 9af2b05f-28ac-4018-8abe-a4dfe192da5e | |
| relation.isOrgUnitOfPublication | 9af2b05f-28ac-4004-8abe-a4dfe192da5e | |
| relation.isOrgUnitOfPublication | 9af2b05f-28ac-4003-8abe-a4dfe192da5e | |
| relation.isOrgUnitOfPublication.latestForDiscovery | 9af2b05f-28ac-4018-8abe-a4dfe192da5e |