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Real-time implementation of some bilateral teleoperation schemes
Today's technology has pushed back many boundaries that we thought were impossible. One of these technologies is bilateral teleoperation. Bilateral teleoperation allows an operator to control a robot, at a distance, over ...
System identification and control of a flexible manipulator
The Observabilty Range Space Extraction (ORSE) algorithm used to identify a an initially overparameterized discrete-time state-space model for a single-link flexible manipulator. A controller named PDPC is designed to ...
Modeling and control of a flexible-link manipulator
The behaviour of a flexible-link robotic manipulator is studied using an experimental apparatus. The system is modeled based on the physical laws governing system dynamics. A non-linear rigid body model is developed which ...