Function based control for bilateral systems in tele-micromanipulation

  title={Function based control for bilateral systems in tele-micromanipulation},
  author={Meltem Elitas and Sana Abid Khan and A. O. Nergiz and Asif Sabanoviç},
  journal={2008 10th IEEE International Workshop on Advanced Motion Control},
Design of a motion control system should take into account (a) unconstrained motion performed without interaction with environment or any other system, and (b) constrained motion with system in contact with environment or other systems. Control in both cases can be formulated in terms of maintaining desired system configuration what makes essentially the same structure for common tasks: trajectory tracking, interaction force control, compliance control etc. The same design approach can be used… CONTINUE READING


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