E-viri
Recenzirano
-
Hace, Aleš; Franc, Marko
Automatika, 20/1/1/, Letnik: 55, Številka: 3Journal Article
In this paper, the problem of external sensors within bilateral teleoperation is addressed. We propose a Phase Locked Loop (PLL) αβ-tracker that presents an enhanced approach for position and velocity estimation. The proposed approach offers some advantages over the method presented in our previous research that was introduced to enable pseudo-sensorless teleoperation. Such approach applies PMLSM actuators with analog Hall sensors built in a motor housing. They allow obtaining sufficient position, velocity, and force information for teleoperation by a haptic interface. Furthermore, FPGA has been utilized for the implementation in order to achieve high control rate that was already introduced as a necessity in cutting edge performance systems. However, main advantages of the method presented in this paper is attributed to improved system performance due to the better signal-noise ratio and to enhanced flexibility of hardware resources consumption. Thus, high-performance bilateral control can be achieved. Such bilateral teleoperation with a dedicated haptic interface can significantly improve surgical robotics. The proposed approach was experimentally validated by the simple 1-DoF laboratory bilateral teleoperation system.
Vnos na polico
Trajna povezava
- URL:
Faktor vpliva
Dostop do baze podatkov JCR je dovoljen samo uporabnikom iz Slovenije. Vaš trenutni IP-naslov ni na seznamu dovoljenih za dostop, zato je potrebna avtentikacija z ustreznim računom AAI.
Leto | Faktor vpliva | Izdaja | Kategorija | Razvrstitev | ||||
---|---|---|---|---|---|---|---|---|
JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
Baze podatkov, v katerih je revija indeksirana
Ime baze podatkov | Področje | Leto |
---|
Povezave do osebnih bibliografij avtorjev | Povezave do podatkov o raziskovalcih v sistemu SICRIS |
---|
Vir: Osebne bibliografije
in: SICRIS
To gradivo vam je dostopno v celotnem besedilu. Če kljub temu želite naročiti gradivo, kliknite gumb Nadaljuj.