Open Access
2014 An Adaptive Regulator for Space Teleoperation System in Task Space
Chao Ge, Weiwei Zhang, Hong Wang, Xiaoyi Li
Abstr. Appl. Anal. 2014(SI59): 1-7 (2014). DOI: 10.1155/2014/501860


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.


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Chao Ge. Weiwei Zhang. Hong Wang. Xiaoyi Li. "An Adaptive Regulator for Space Teleoperation System in Task Space." Abstr. Appl. Anal. 2014 (SI59) 1 - 7, 2014.


Published: 2014
First available in Project Euclid: 3 October 2014

zbMATH: 07022497
MathSciNet: MR3248861
Digital Object Identifier: 10.1155/2014/501860

Rights: Copyright © 2014 Hindawi

Vol.2014 • No. SI59 • 2014
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