Design and implementation of a cartesian impedance control in a bilateral telemanipulation system using UR10e robots

Publikationstyp
Conference Paper
Date Issued
2022-05
Sprache
English
Author(s)
Hammoud, Ali  
Youssef, Fady  orcid-logo
Kern, Thorsten Alexander  orcid-logo
Institut
Mechatronik im Maschinenbau M-4  
TORE-DOI
10.15480/882.4360
TORE-URI
http://hdl.handle.net/11420/12795
First published in
Lecture notes in computer science  
Number in series
13235 LNCS
Start Page
408
End Page
411
Citation
Lecture Notes in Computer Science 13235 LNCS: 408-411 (2022)
Contribution to Conference
13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics2022  
Publisher DOI
10.1007/978-3-031-06249-0
Publisher
Springer International Publishing AG
Peer Reviewed
true
This paper presents an overview of a work-in-progress project, where a telemanipulation system is designed and its stability, delay, and transparency are discussed. In this telemanipulation system, a cartesian impedance control system was implemented, tested, and evaluated.
DDC Class
004: Informatik
Publication version
publishedVersion
Lizenz
https://creativecommons.org/licenses/by/4.0/
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