Abstract and Applied Analysis

An Adaptive Regulator for Space Teleoperation System in Task Space

Chao Ge, Weiwei Zhang, Hong Wang, and Xiaoyi Li

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Abstract

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.

Article information

Source
Abstr. Appl. Anal., Volume 2014, Special Issue (2014), Article ID 501860, 7 pages.

Dates
First available in Project Euclid: 3 October 2014

Permanent link to this document
https://projecteuclid.org/euclid.aaa/1412360611

Digital Object Identifier
doi:10.1155/2014/501860

Mathematical Reviews number (MathSciNet)
MR3248861

Zentralblatt MATH identifier
07022497

Citation

Ge, Chao; Zhang, Weiwei; Wang, Hong; Li, Xiaoyi. An Adaptive Regulator for Space Teleoperation System in Task Space. Abstr. Appl. Anal. 2014, Special Issue (2014), Article ID 501860, 7 pages. doi:10.1155/2014/501860. https://projecteuclid.org/euclid.aaa/1412360611


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