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Bilateral control system of the space robot with large delays. / Alferov, G.; Efimova, P.; Shymanchuk, D.; Kadry, S.; Meqdad, M. N.

In: Telkomnika (Telecommunication Computing Electronics and Control), Vol. 19, No. 6, 01.01.2021, p. 1962-1974.

Research output: Contribution to journal › Article › peer-review

Harvard

Alferov, G, Efimova, P, Shymanchuk, D, Kadry, S & Meqdad, MN 2021, 'Bilateral control system of the space robot with large delays', Telkomnika (Telecommunication Computing Electronics and Control), vol. 19, no. 6, pp. 1962-1974. https://doi.org/10.12928/TELKOMNIKA.v19i6.18837

APA

Alferov, G., Efimova, P., Shymanchuk, D., Kadry, S., & Meqdad, M. N. (2021). Bilateral control system of the space robot with large delays. Telkomnika (Telecommunication Computing Electronics and Control), 19(6), 1962-1974. https://doi.org/10.12928/TELKOMNIKA.v19i6.18837

Vancouver

Alferov G, Efimova P, Shymanchuk D, Kadry S, Meqdad MN. Bilateral control system of the space robot with large delays. Telkomnika (Telecommunication Computing Electronics and Control). 2021 Jan 1;19(6):1962-1974. https://doi.org/10.12928/TELKOMNIKA.v19i6.18837

Author

Alferov, G. ; Efimova, P. ; Shymanchuk, D. ; Kadry, S. ; Meqdad, M. N. / Bilateral control system of the space robot with large delays. In: Telkomnika (Telecommunication Computing Electronics and Control). 2021 ; Vol. 19, No. 6. pp. 1962-1974.

BibTeX

@article{d752808596cf43c0ac34ccaeacba54c8,
title = "Bilateral control system of the space robot with large delays",
abstract = "The main obstacle of the construction of efficient remote-control systems for space robots is a significant delay in transmissions of control signals to robots from the earth-based control center and receiving feedback signals. This significantly complicates the solution of control problem, especially if robot{\textquoteright}s manipulators move objects that have mechanical constraints. Our work describes a method for bilateral control of a space robot with large delays. The uniqueness of this method lies in the special structure of the control algorithm. Bilateral control implies force feedback necessary for the interaction of a space robot with objects that have holonomic connections. We present a new mathematical model of the elements of the bilateral control system and their computer implementation using specific examples.",
keywords = "Bilateral control, Force feedback, Nonlinear control systems, Remote control, Space robots",
author = "G. Alferov and P. Efimova and D. Shymanchuk and S. Kadry and Meqdad, {M. N.}",
year = "2021",
month = jan,
day = "1",
doi = "10.12928/TELKOMNIKA.v19i6.18837",
language = "English",
volume = "19",
pages = "1962--1974",
journal = "Telkomnika",
issn = "1693-6930",
publisher = "Institute of Advanced Engineering and Science (IAES)",
number = "6",

}

RIS

TY - JOUR

T1 - Bilateral control system of the space robot with large delays

AU - Alferov, G.

AU - Efimova, P.

AU - Shymanchuk, D.

AU - Kadry, S.

AU - Meqdad, M. N.

PY - 2021/1/1

Y1 - 2021/1/1

N2 - The main obstacle of the construction of efficient remote-control systems for space robots is a significant delay in transmissions of control signals to robots from the earth-based control center and receiving feedback signals. This significantly complicates the solution of control problem, especially if robot’s manipulators move objects that have mechanical constraints. Our work describes a method for bilateral control of a space robot with large delays. The uniqueness of this method lies in the special structure of the control algorithm. Bilateral control implies force feedback necessary for the interaction of a space robot with objects that have holonomic connections. We present a new mathematical model of the elements of the bilateral control system and their computer implementation using specific examples.

AB - The main obstacle of the construction of efficient remote-control systems for space robots is a significant delay in transmissions of control signals to robots from the earth-based control center and receiving feedback signals. This significantly complicates the solution of control problem, especially if robot’s manipulators move objects that have mechanical constraints. Our work describes a method for bilateral control of a space robot with large delays. The uniqueness of this method lies in the special structure of the control algorithm. Bilateral control implies force feedback necessary for the interaction of a space robot with objects that have holonomic connections. We present a new mathematical model of the elements of the bilateral control system and their computer implementation using specific examples.

KW - Bilateral control

KW - Force feedback

KW - Nonlinear control systems

KW - Remote control

KW - Space robots

UR - http://www.scopus.com/inward/record.url?scp=85124010477&partnerID=8YFLogxK

U2 - 10.12928/TELKOMNIKA.v19i6.18837

DO - 10.12928/TELKOMNIKA.v19i6.18837

M3 - Article

AN - SCOPUS:85124010477

VL - 19

SP - 1962

EP - 1974

JO - Telkomnika

JF - Telkomnika

SN - 1693-6930

IS - 6

ER -

ID: 103617590