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An Adaptive Regulator for Space Teleoperation System in Task Space
Joint Authors
Ge, Chao
Zhang, Weiwei
Wang, Hong
Li, Xiaoyi
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-08-06
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
The problem of the gravity information which can not be obtained in advance for bilateral teleoperation is studied.
In outer space exploration, the gravity term changes with the position changing of the slave manipulator.
So it is necessary to design an adaptive regulator controller to compensate for the unknown gravity signal.
Moreover, to get a more accurate position tracking performance, the controller is designed in the task space instead of the joint space.
Additionally, the time delay considered in this paper is not only time varying but also unsymmetrical.
Finally, simulations are presented to show the effectiveness of the proposed approach.
American Psychological Association (APA)
Ge, Chao& Zhang, Weiwei& Wang, Hong& Li, Xiaoyi. 2014. An Adaptive Regulator for Space Teleoperation System in Task Space. Abstract and Applied Analysis،Vol. 2014, no. 2014, pp.1-7.
https://search.emarefa.net/detail/BIM-1014109
Modern Language Association (MLA)
Ge, Chao…[et al.]. An Adaptive Regulator for Space Teleoperation System in Task Space. Abstract and Applied Analysis No. 2014 (2014), pp.1-7.
https://search.emarefa.net/detail/BIM-1014109
American Medical Association (AMA)
Ge, Chao& Zhang, Weiwei& Wang, Hong& Li, Xiaoyi. An Adaptive Regulator for Space Teleoperation System in Task Space. Abstract and Applied Analysis. 2014. Vol. 2014, no. 2014, pp.1-7.
https://search.emarefa.net/detail/BIM-1014109
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1014109