Kinematic mapping and control scheme design of telemanipulation systems
The thesis presents the work in the area of telemanipulation. The first part proposes a virtual circle mapping method for master-slave hand systems, and the second part presents a two-channel bilateral controller. Simulations and experiments are conducted to validate the methods and schemes.
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| Format: | Thesis |
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2008
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| Online Access: | https://hdl.handle.net/10356/5273 |
| _version_ | 1826113223391182848 |
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| author | Wang, Heng |
| author2 | Low, Kin Huat |
| author_facet | Low, Kin Huat Wang, Heng |
| author_sort | Wang, Heng |
| collection | NTU |
| description | The thesis presents the work in the area of telemanipulation. The first part proposes a virtual circle mapping method for master-slave hand systems, and the second part presents a two-channel bilateral controller. Simulations and experiments are conducted to validate the methods and schemes. |
| first_indexed | 2024-10-01T03:19:41Z |
| format | Thesis |
| id | ntu-10356/5273 |
| institution | Nanyang Technological University |
| last_indexed | 2024-10-01T03:19:41Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | ntu-10356/52732023-03-11T18:07:48Z Kinematic mapping and control scheme design of telemanipulation systems Wang, Heng Low, Kin Huat School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering::Robots The thesis presents the work in the area of telemanipulation. The first part proposes a virtual circle mapping method for master-slave hand systems, and the second part presents a two-channel bilateral controller. Simulations and experiments are conducted to validate the methods and schemes. DOCTOR OF PHILOSOPHY (MAE) 2008-09-17T10:46:49Z 2008-09-17T10:46:49Z 2008 2008 Thesis Wang, H. (2008). Kinematic mapping and control scheme design of telemanipulation systems. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/5273 10.32657/10356/5273 Nanyang Technological University application/pdf |
| spellingShingle | DRNTU::Engineering::Mechanical engineering::Robots Wang, Heng Kinematic mapping and control scheme design of telemanipulation systems |
| title | Kinematic mapping and control scheme design of telemanipulation systems |
| title_full | Kinematic mapping and control scheme design of telemanipulation systems |
| title_fullStr | Kinematic mapping and control scheme design of telemanipulation systems |
| title_full_unstemmed | Kinematic mapping and control scheme design of telemanipulation systems |
| title_short | Kinematic mapping and control scheme design of telemanipulation systems |
| title_sort | kinematic mapping and control scheme design of telemanipulation systems |
| topic | DRNTU::Engineering::Mechanical engineering::Robots |
| url | https://hdl.handle.net/10356/5273 |
| work_keys_str_mv | AT wangheng kinematicmappingandcontrolschemedesignoftelemanipulationsystems |