Jezik: | Slovenski jezik |
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Leto izida: | 2013 |
Tipologija: | 1.01 - Izvirni znanstveni članek |
Organizacija: | UM FERI - Fakulteta za elektrotehniko, računalništvo in informatiko |
UDK: | 681.5 |
COBISS: | 17762070 |
ISSN: | 0013-5852 |
Št. ogledov: | 742 |
Št. prenosov: | 38 |
Ocena: | 0 (0 glasov) |
Metapodatki: |
Sekundarni jezik: | Angleški jezik |
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Sekundarni povzetek: | In this paper, the problem of velocity information in bilateral teleoperation is addressed. An approach using a Phase Locked Loop (PLL) [alpha beta]-tracker is presented. The approach offers some advantages over the method developed in our previous research. It allows obtaining sufficient position, velocity, and force information for teleoperation by using a haptic interface. However, the main advantages of the method are simplification and possible improvements of the FPGA implementation. Such bilateral teleoperation approach with a dedicated haptic interface can significantly improve surgical robotics. The approach was experimentally validated by a simple 1-DoF laboratory bilateral teleoperation system. |
Sekundarne ključne besede: | mechatronics;teleoperation;phase locked loop;estimation of speed;bilateral teleoperation;haptic; |
URN: | URN:NBN:SI |
Vrsta dela (COBISS): | Delo ni kategorizirano |
Strani: | str. 147-152 |
Letnik: | ǂLetn. ǂ80 |
Zvezek: | ǂšt. ǂ4 |
Čas izdaje: | 2013 |
ID: | 9098102 |