@inproceedings{af982aa2955d4ba1a3411663eb2c3e5e,
title = "Experimental comparison study on joint and cartesian space control schemes for a teleoperation system under time-varying delay",
abstract = "In this paper, teleoperation control of a UR5 robotic manipulator under time-varying delay is addressed. Two control methods of joint and Cartesian space are investigated for the teleoperation system. The singularity situations of the UR5 robot are considered for the case of different degrees of freedom (DoF), and also different kinematic properties for the master and slave systems. We first focus on a Cartesian space control of a teleoperation system which is common in the literature. It is shown that this control methodology is highly prone to singular situations. To overcome this problem, a Jacobian-based control strategy in joint space is presented. An extensive simulation study demonstrates the superiority and reliability of the later control methodology.",
keywords = "Cartesian control, Jacobian-based control, Tele-operation, Time-varying delay",
author = "Kebria, \{Parham M.\} and Abbas Khosravi and Saeid Nahavandi and Abdollah Homaifar and Mehrdad Saif",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Industrial Technology, ICIT 2019 ; Conference date: 13-02-2019 Through 15-02-2019",
year = "2019",
month = feb,
doi = "10.1109/ICIT.2019.8755087",
language = "English",
series = "Proceedings of the IEEE International Conference on Industrial Technology",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "108--113",
booktitle = "Proceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019",
}