Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot
Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a...
Saved in:
| Published in | International journal of control, automation, and systems Vol. 18; no. 7; pp. 1792 - 1805 |
|---|---|
| Main Authors | , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.07.2020
Springer Nature B.V 제어·로봇·시스템학회 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1598-6446 2005-4092 |
| DOI | 10.1007/s12555-019-0549-8 |
Cover
Loading…
| Abstract | Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a local CDPR driven by a human. The proposed system comprises a master CDPR in the operating room, a slave CDPR in the workplace, wireless communication between the master and slave CDPRs, and an admittance control to realize the haptic force to the master CDPR. The master CDPR transmits the Cartesian posture command, based on an operator’s manipulation, to the slave CDPR, and the slave CDPR’s wrench force obtained through the cable tension measurement is fed back to the master CDPR. For validation, two CDPRs in different locations (approximately 7.46 km apart) are utilized; a mini-size CDPR is used as the master device and a grand-size CDPR is used as the slave robot. The experimental results demonstrate that the operator can fully control the slave robot’s six DOF motions with spatial force feeling in hand, and satisfactory synchronized movements of the two CDPRs at a distance could be performed. Also, a preliminary experimental result of the proposed wrench feedback method is discussed. The proposed method has practical benefits in field robotics applications in unmanned and hazardous workspaces, such as nuclear power plants and space, which require long-distance remote manipulation at different locations. |
|---|---|
| AbstractList | Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a local CDPR driven by a human. The proposed system comprises a master CDPR in the operating room, a slave CDPR in the workplace, wireless communication between the master and slave CDPRs, and an admittance control to realize the haptic force to the master CDPR. The master CDPR transmits the Cartesian posture command, based on an operator’s manipulation, to the slave CDPR, and the slave CDPR’s wrench force obtained through the cable tension measurement is fed back to the master CDPR. For validation, two CDPRs in different locations (approximately 7.46 km apart) are utilized; a mini-size CDPR is used as the master device and a grand-size CDPR is used as the slave robot. The experimental results demonstrate that the operator can fully control the slave robot’s six DOF motions with spatial force feeling in hand, and satisfactory synchronized movements of the two CDPRs at a distance could be performed. Also, a preliminary experimental result of the proposed wrench feedback method is discussed. The proposed method has practical benefits in field robotics applications in unmanned and hazardous workspaces, such as nuclear power plants and space, which require long-distance remote manipulation at different locations. Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a local CDPR driven by a human. The proposed system comprises a master CDPR in the operating room, a slave CDPR in the workplace, wireless communication between the master and slave CDPRs, and an admittance control to realize the haptic force to the master CDPR. The master CDPR transmits the Cartesian posture command, based on an operator’s manipulation, to the slave CDPR, and the slave CDPR’s wrench force obtained through the cable tension measurement is fed back to the master CDPR. For validation, two CDPRs in different locations (approximately 7.46 km apart) are utilized; a mini-size CDPR is used as the master device and a grand-size CDPR is used as the slave robot. The experimental results demonstrate that the operator can fully control the slave robot’s six DOF motions with spatial force feeling in hand, and satisfactory synchronized movements of the two CDPRs at a distance could be performed. Also, a preliminary experimental result of the proposed wrench feedback method is discussed. The proposed method has practical benefits in field robotics applications in unmanned and hazardous workspaces, such as nuclear power plants and space, which require long-distance remote manipulation at different locations. KCI Citation Count: 10 |
| Author | Piao, Jinlong Park, Jong-Oh Kim, Chang-Sei Jung, Jinwoo Choi, Eunpyo Choi, Hongseok Kim, Eui-Sun |
| Author_xml | – sequence: 1 givenname: Hongseok surname: Choi fullname: Choi, Hongseok organization: School of Mechanical Engineering, Chonnam National University – sequence: 2 givenname: Jinlong surname: Piao fullname: Piao, Jinlong organization: School of Mechanical Engineering, Chonnam National University – sequence: 3 givenname: Eui-Sun surname: Kim fullname: Kim, Eui-Sun organization: Korea Institute of Medical Microrobotics (KIMIRo), Medical Microrobot Center (MRC), and Robot Research Initiative (RRI), Chonnam National University – sequence: 4 givenname: Jinwoo surname: Jung fullname: Jung, Jinwoo organization: Korea Institute of Medical Microrobotics – sequence: 5 givenname: Eunpyo surname: Choi fullname: Choi, Eunpyo organization: School of Mechanical Engineering, Chonnam National University – sequence: 6 givenname: Jong-Oh orcidid: 0000-0001-5362-2661 surname: Park fullname: Park, Jong-Oh email: jop@jnu.ac.kr organization: School of Mechanical Engineering, Chonnam National University, School of Electronics and Electrical Engineering, Daegu Catholic University – sequence: 7 givenname: Chang-Sei orcidid: 0000-0003-4532-2006 surname: Kim fullname: Kim, Chang-Sei email: ckim@jnu.ac.kr organization: School of Mechanical Engineering, Chonnam National University |
| BackLink | https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002593294$$DAccess content in National Research Foundation of Korea (NRF) |
| BookMark | eNp9kUtLRCEYhiUKmi4_oJ3QqoWlHj8dlzV0GQiKmNbicTxhnXTyOMH8-6wTBEGtPtHn0RffPbQdU_QIHTF6yihVZwPjAEAo04SC0GS6hSacUiCCar6NJgz0lEgh5C7aG4ZnSqXkWk1QnMeyDiW8e3wRelt8tj1e-N6nVV2WkCJOHbZ4Ztvek2WuYMT3tlK97_FDalPBsxRLTnVjidvN_-wB2ulsP_jD77mPHq8uF7Mbcnt3PZ-d3xLXAC0EanKvqG7YkksnHdWOOaa88LJprAQHwKnkHvTSdlDPpqwRvoXGSS1AtM0-OhnvjbkzLy6YZMPXfErmJZvzh8Xc6EYpBlDZ45Fd5fS29kMxz2mdY41nuGBcMa0orxQbKZfTMGTfmVUOrzZvDKPmswIzVmBqBeazAjOtjvrluFC-PrVkG_p_TT6aQ30lPvn8k-lv6QNZq5t8 |
| CitedBy_id | crossref_primary_10_32604_cmes_2024_057261 crossref_primary_10_3390_app11093823 crossref_primary_10_3390_math10203826 crossref_primary_10_1109_JSEN_2022_3144888 crossref_primary_10_1007_s12555_020_0427_4 crossref_primary_10_1007_s12555_020_0541_3 crossref_primary_10_1002_rnc_7412 crossref_primary_10_1109_TASE_2023_3249826 crossref_primary_10_1155_2020_3657848 crossref_primary_10_3390_robotics10010029 crossref_primary_10_1109_TMECH_2022_3150108 |
| Cites_doi | 10.1115/DETC2014-34541 10.3390/s18072392 10.1007/s12555-016-0492-x 10.1016/j.asoc.2019.04.023 10.1109/ROBOT.1992.220152 10.1016/j.mechmachtheory.2019.03.021 10.1177/1687814017737199 10.1111/1467-8659.00654 10.1017/S0263574799002477 10.1016/j.mechmachtheory.2018.11.003 10.1109/LRA.2018.2812913 10.1109/HAPTICS.2008.4479937 10.1007/s12555-016-0643-0 10.1109/TRO.2018.2791593 10.20965/jrm.2015.p0599 10.1007/978-3-319-76138-1 10.1007/s12555-017-0739-1 10.1002/scj.4690231204 10.3390/s19112520 10.1109/TMECH.2018.2793578 10.1016/j.sigpro.2018.10.021 10.1155/2014/823028 10.1016/j.ifacol.2018.11.588 10.1007/s12555-015-0126-8 10.1016/j.autcon.2007.02.011 10.1007/s11044-008-9144-0 10.1016/j.robot.2006.09.002 10.1109/THMS.2018.2878815 10.1016/j.robot.2009.07.006 10.1109/TMECH.2016.2618888 10.1109/ICCSNT.2011.6182524 10.1007/s11071-017-3905-3 10.1299/mer.2014dsm0004 10.1016/j.rcim.2013.11.001 10.1186/s10033-018-0267-9 10.1016/j.robot.2019.01.012 10.1007/978-3-319-32552-1_43 |
| ContentType | Journal Article |
| Copyright | ICROS, KIEE and Springer 2020 ICROS, KIEE and Springer 2020. |
| Copyright_xml | – notice: ICROS, KIEE and Springer 2020 – notice: ICROS, KIEE and Springer 2020. |
| DBID | AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D ACYCR |
| DOI | 10.1007/s12555-019-0549-8 |
| DatabaseName | CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional Korean Citation Index |
| DatabaseTitle | CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional |
| DatabaseTitleList | Technology Research Database |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 2005-4092 |
| EndPage | 1805 |
| ExternalDocumentID | oai_kci_go_kr_ARTI_9377155 10_1007_s12555_019_0549_8 |
| GroupedDBID | -EM .UV 06D 0R~ 0VY 1N0 203 29J 29~ 2KG 2LR 2VQ 30V 3V. 4.4 406 408 40D 5GY 5VS 67Z 7WY 8FE 8FG 8FL 96X 9ZL AACDK AAHNG AAIAL AAJBT AAJKR AAKPC AANZL AARHV AARTL AASML AATNV AATVU AAUYE AAWCG AAYIU AAYQN AAYTO AAYZH AAZMS ABAKF ABDZT ABECU ABFTD ABFTV ABJNI ABJOX ABKCH ABMQK ABQBU ABSXP ABTEG ABTHY ABTKH ABTMW ABUWG ABXPI ACAOD ACDTI ACGFS ACHSB ACHXU ACIWK ACKNC ACMDZ ACMLO ACOKC ACPIV ACZOJ ADHHG ADHIR ADINQ ADKNI ADKPE ADRFC ADTPH ADURQ ADYFF ADZKW AEBTG AEFQL AEGNC AEJHL AEJRE AEMSY AENEX AEOHA AEPYU AESKC AETCA AEVLU AEXYK AFBBN AFGCZ AFKRA AFLOW AFQWF AFWTZ AFZKB AGAYW AGDGC AGJBK AGMZJ AGQEE AGQMX AGRTI AGWZB AGYKE AHAVH AHBYD AHKAY AHSBF AHYZX AIAKS AIGIU AIIXL AILAN AITGF AJBLW AJRNO ALMA_UNASSIGNED_HOLDINGS AMKLP AMXSW AMYLF AMYQR ANMIH AOCGG ARAPS ASPBG AVWKF AXYYD AYJHY AZFZN AZQEC BA0 BENPR BEZIV BGLVJ BGNMA BPHCQ CAG CCPQU COF CSCUP DBRKI DDRTE DNIVK DPUIP DU5 DWQXO EBLON EBS EIOEI EJD ESBYG F5P FEDTE FERAY FFXSO FIGPU FINBP FNLPD FRJ FRNLG FRRFC FSGXE FYJPI GGCAI GGRSB GJIRD GNUQQ GQ6 GQ7 GROUPED_ABI_INFORM_COMPLETE GW5 H13 HCIFZ HF~ HG6 HLICF HMJXF HRMNR HVGLF HZ~ IKXTQ IWAJR IXC IXD I~X J-C J0Z JBSCW JZLTJ K60 K6V K6~ K7- KOV KVFHK LLZTM M0C M0N M4Y MA- NPVJJ NQJWS NU0 O9- O9J P62 P9P PQBIZ PQBZA PQQKQ PROAC PT4 Q2X R9I ROL RSV S1Z S27 S3B SDH SEG SHX SISQX SJYHP SNE SNPRN SNX SOHCF SOJ SPISZ SRMVM SSLCW STPWE T13 TDB TSG U2A UG4 UOJIU UTJUX UZXMN VC2 VFIZW W48 WK8 Z45 Z7R Z7X Z7Z Z83 Z88 ZMTXR ~A9 AAPKM AAYXX ABDBE ABFSG ACSTC AEZWR AFDZB AFHIU AFOHR AHPBZ AHWEU AIXLP ATHPR CITATION PHGZM PHGZT 7SC 7SP 7TB 8FD ABRTQ FR3 JQ2 L7M L~C L~D ACYCR PMFND |
| ID | FETCH-LOGICAL-c350t-5005e70931d26c6c09c1c17e4e633a65c552062e59daf5c1c8134eb53c69454b3 |
| IEDL.DBID | U2A |
| ISSN | 1598-6446 |
| IngestDate | Thu May 29 05:23:52 EDT 2025 Fri Jul 25 23:48:09 EDT 2025 Tue Jul 01 00:27:49 EDT 2025 Thu Apr 24 23:08:03 EDT 2025 Fri Feb 21 02:33:27 EST 2025 |
| IsPeerReviewed | false |
| IsScholarly | true |
| Issue | 7 |
| Keywords | teleoperation force feedback intuitive haptic device Cable-driven parallel robot |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c350t-5005e70931d26c6c09c1c17e4e633a65c552062e59daf5c1c8134eb53c69454b3 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 http://link.springer.com/article/10.1007/s12555-019-0549-8 |
| ORCID | 0000-0003-4532-2006 0000-0001-5362-2661 |
| PQID | 2412719702 |
| PQPubID | 326316 |
| PageCount | 14 |
| ParticipantIDs | nrf_kci_oai_kci_go_kr_ARTI_9377155 proquest_journals_2412719702 crossref_primary_10_1007_s12555_019_0549_8 crossref_citationtrail_10_1007_s12555_019_0549_8 springer_journals_10_1007_s12555_019_0549_8 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2020-07-01 |
| PublicationDateYYYYMMDD | 2020-07-01 |
| PublicationDate_xml | – month: 07 year: 2020 text: 2020-07-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationPlace | Bucheon / Seoul |
| PublicationPlace_xml | – name: Bucheon / Seoul – name: Heidelberg |
| PublicationSubtitle | IJCAS |
| PublicationTitle | International journal of control, automation, and systems |
| PublicationTitleAbbrev | Int. J. Control Autom. Syst |
| PublicationYear | 2020 |
| Publisher | Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers Springer Nature B.V 제어·로봇·시스템학회 |
| Publisher_xml | – name: Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers – name: Springer Nature B.V – name: 제어·로봇·시스템학회 |
| References | CuiXChenWJinXAgrawalS KDesign of a 7-DOF cable-driven arm exoskeleton (CAREX-7) and a controller for dexterous motion training or assistanceIEEE/ASME Trans. on Mechatronics201722116117210.1109/TMECH.2016.2618888 PottACable-Driven Parallel Robots201810.1007/978-3-319-76138-1 TangXAn overview of the development for cable-driven parallel manipulatorAdvances in Mechanical Engineering2014682302810.1155/2014/823028 BruckmannTMikelsonsLBrandtTHillerMSchrammDRyuJ-HWire Robots Part I: Kinematics, Analysis & DesignParallel Manipulators2008109132 ScaleraLGallinaPSerianiSGasparettoACable-based robotic crane (CBRC): design and implementation of overhead traveling cranes based on variable radius drumsIEEE Trans. on Robotics201834247448510.1109/TRO.2018.2791593 ScarciaUMorielloLPepeAPalliGMelchiorriCDesign of a twisted-string actuator for haptic force renderingIFAC-PapersOnLine2018512247948510.1016/j.ifacol.2018.11.588 BosscherPWilliamsR LBrysonL SCastro-LacoutureDCable-suspended robotic contour crafting systemAutomation in Construction2007171455510.1016/j.autcon.2007.02.011 YangHLiHXiaYLiLHierarchical fusion estimation for multi-sensor networked systems with transmission delays and packet dropoutsSignal Processing201915615616510.1016/j.sigpro.2018.10.021 KawamuraSKinoHWonCHigh-speed manipulation by using parallel wire-driven robotsRobotica2000181132110.1017/S0263574799002477 OtisM J-DMokhtariMdu TremblayCLaurendeauDde RainvilleF-MGosselinC MHybrid control with multi-contact interactions for 6DOF haptic foot platform on a cable-driven locomotion interfaceProc. of Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems200816116810.1109/HAPTICS.2008.4479937 Peñaloza-MejíaOMárquez-MartínezL AAlvarez-GallegosJAlvarezJMaster-slave teleoperation of underactuated mechanical systems with communication delaysInternational Journal of Control, Automation and Systems201715282783610.1007/s12555-015-0126-8 JungJPiaoJParkSParkJ-OKoS YAnalysis of cable tension of high speed parallel cable robot: High speed position tracking of winchProc. of 16th International Conference on Control, Automation and Systems (ICCAS)201610531056 ElahiAAlfiAFinite-time H8 stability analysis of uncertain network-based control systems under random packet dropout and varying network delayNonlinear Dynamics201891171373137404961390.9328010.1007/s11071-017-3905-3 KawamuraSItoKA new type of master robot for teleoperation using a radial wire drive systemProc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’93)199315560 AslH JYoonJStable assist-as-needed controller design for a planar cable-driven robotic systemInternational Journal of Control, Automation and Systems20171562871288210.1007/s12555-016-0492-x LindemannRTesarDConstruction and demonstration of a 9-string 6 DOF force reflecting joystick for teler-oboticsProc. of NASA Conference on Space Telerobotics19895563 NiemeyerGPreuscheCStramigioliSLeeDSicilianoBKhatibOTeleroboticsSpringer Handbook of Robotics20162nd ed.1085110810.1007/978-3-319-32552-1_43 “Dyneema® The world’s strongest fiber.” https://www.dsm.com/products/dyneema/en_GB/home.html. LiYYinYZhangDIMC-based design for teleoperation systems with time delaysInternational Journal of Control, Automation and Systems201816288789510.1007/s12555-016-0643-0 ConeL LSkycam, an aerial robotic camera systemByte Magazine19851010122132 PiaoJJinXJungJChoiEParkJ-OKimC-SOpen-loop position control of a polymer cable-driven parallel robot via a viscoelastic cable model for high payload workspacesAdvances in Mechanical Engineering201791216878140177371910.1177/1687814017737199 MiermeisterPLächeleMBossRMasoneCSchenkCTeschJKergerMTeufelHPottABülthoffH HThe CableRobot simulator: large scale motion platform based on cable robot technologyProc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)201630243029 KrausWKesslerMPottAPulley friction compensation for winch-integrated cable force measurement and verification on a cable-driven parallel robotProc. of IEEE International Conference on Robotics and Automation (ICRA)201516271632 LahouarSOttavianoEZeghoulSRomdhaneLCeccarelliMCollision free path-planning for cable-driven parallel robotsRobotics and Autonomous Systems200957111083109310.1016/j.robot.2009.07.006 Saint-AubertJRegnierSHaliyoSCable driven haptic interface for co-localized desktop VRProc. of IEEE Haptics Symposium (HAPTICS)2018351356 LaycockS DDayA MRecent developments and applications of haptic devicesComputer Graphics Forum200322211713210.1111/1467-8659.00654 PlooijMKellerUSterkeBKomiSValleryHvon ZitzewitzJDesign of RYSEN: an intrinsically safe and low-power three-dimensional overground body weight supportIEEE Robotics and Automation Letters2018332253226010.1109/LRA.2018.2812913 GanjefarSAfsharMSarajchiM HShaoZController design based on wavelet neural adaptive proportional plus conventional integral-derivative for bilateral teleoperation systems with time-varying parametersInternational Journal of Control, Automation and Systems20181652405242010.1007/s12555-017-0739-1 CraigJ JIntroduction to Robotics: Mechanics and Control20053rd ed BolboliJKhosraviM AAbdollahiFStiffness feasible workspace of cable-driven parallel robots with application to optimal design of a planar cable robotRobotics and Autonomous Systems2019114192810.1016/j.robot.2019.01.012 PiaoJKimE-SChoiHMoonC-BChoiEParkJ-OKimC-SIndirect force control of a cable-driven parallel robot: tension estimation using artificial neural network trained by force sensor measurementsSensors20191911252010.3390/s19112520 ElahiAAlfiAStochastic H8 finite-time control of networked cascade control systems under limited channels, network delaysISA Transsactions2019 International Journal of Advanced Robotic Systems2018151 ZiBWangNQianSBaoKDesign, stiffness analysis and experimental study of a cable-driven parallel 3D printerMechanism and Machine Theory201913220722210.1016/j.mechmachtheory.2018.11.003 Torres-MendezSKhajepourAAnalysis of a high stiffness warehousing cable-based robotProc. of Volume 5A: 38th Mechanisms and Robotics Conference2014V05AT08A08810.1115/DETC2014-34541 KebriaP MAbdiHDalvandM MKhosraviANahavandiSControl methods for internet-based teleoperation systems: a reviewIEEE Trans. on Human-Machine Systems2019491324610.1109/THMS.2018.2878815 KimW SDevelopments of new force reflecting control schemes and an application to a teleoperation training simulatorProc. of IEEE International Conference on Robotics and Automation199214121419 SlawiñskiEPostigoJ FMutVBilateral teleoperation through the InternetRobotics and Autonomous Systems200755320521510.1016/j.robot.2006.09.002 MerletJ-PThe kinematics of cable-driven parallel robots with sagging cables: preliminary resultsProc. of IEEE International Conference on Robotics and Automation (ICRA)201515931598 JinXJungJKoSChoiEParkJ-OKimC-SGeometric parameter calibration for a cable-driven parallel robot based on a single one-dimensional laser distance sensor measurement and experimental modelingSensors2018187239210.3390/s18072392 “BECKHOFF New Automation Technology,” url-https://beckhoff.com/. KinoHKawamuraSMechanism and Control of Parallel-Wire Driven SystemJournal of Robotics and Mechatronics201527659960710.20965/jrm.2015.p0599 GosselinCCable-driven parallel mechanisms: state of the art and perspectivesMechanical Engineering Reviews201411DSM0004DSM000410.1299/mer.2014dsm0004 LeeHChoiHParkSAccurate modeling and nonlinearity compensation in the speed mode of a twisted string actuatorMechanism and Machine Theory2019137536610.1016/j.mechmachtheory.2019.03.021 DiaoXMaOVibration analysis of cable-driven parallel manipulatorsMultibody System Dynamics20092143473601350.7000310.1007/s11044-008-9144-0 SatoMHirataYKawaradaHSpace interface device for artificial reality-SPIDARSystems and Computers in Japan19922312445410.1002/scj.4690231204 BaigzadehnoeBRezaieBRahmaniZFuzzymodel-based fault detection for nonlinear networked control systems with periodic access constraints and Bernoulli packet dropoutsApplied Soft Computing20198046547410.1016/j.asoc.2019.04.023 JamshidifarHKhosravaniSFidanBKhajepourAVibration decoupled modeling and robust control of redundant cable-driven parallel robotsIEEE/ASME Trans. on Mechatronics201823269070110.1109/TMECH.2018.2793578 JungJKimE-SJinXPiaoJChoiEParkJ-OKimC-SA cable-driven parallel robot remotely controlled by a human-driven parallel cable robotProc. of 50th International Symposium on Robotics2018263268 CastelliGOttavianoEReaPA Cartesian cablesuspended robot for improving end-users’ mobility in an urban environmentRobotics and Computer-integrated Manufacturing201430333534310.1016/j.rcim.2013.11.001 HirataYShiraiRKosugeKPosition and orientation control of passive wire-driven motion support system using servo brakesProc. of IEEE International Conference on Robotics and Automation (ICRA)201737023707 XiaoRHuangJWuPLarge space force feedback system based on stringProc. of 2011 International Conference on Computer Science and Network Technology20112705270810.1109/ICCSNT.2011.6182524 QianSZiBShangW-WXuQ-SA review on cable-driven parallel robotsChinese Journal of Mechanical Engineering20183116610.1186/s10033-018-0267-9 U Scarcia (549_CR28) 2018; 51 S Kawamura (549_CR51) 2000; 18 E Slawiñski (549_CR31) 2007; 55 R Lindemann (549_CR29) 1989 A Elahi (549_CR34) 2019 O Peñaloza-Mejía (549_CR49) 2017; 15 H Kino (549_CR3) 2015; 27 P Bosscher (549_CR14) 2007; 17 S Torres-Mendez (549_CR16) 2014 S Ganjefar (549_CR32) 2018; 16 H J Asl (549_CR18) 2017; 15 M J-D Otis (549_CR23) 2008 W Kraus (549_CR46) 2015 J Piao (549_CR7) 2017; 9 X Cui (549_CR19) 2017; 22 (549_CR12) 2018; 15 R Xiao (549_CR24) 2011 549_CR39 L L Cone (549_CR11) 1985; 10 J Jung (549_CR41) 2016 X Diao (549_CR9) 2009; 21 Y Hirata (549_CR25) 2017 S D Laycock (549_CR17) 2003; 22 Y Li (549_CR48) 2018; 16 H Jamshidifar (549_CR44) 2018; 23 C Gosselin (549_CR4) 2014; 1 J-P Merlet (549_CR8) 2015 H Lee (549_CR27) 2019; 137 W S Kim (549_CR50) 1992 T Bruckmann (549_CR43) 2008 X Jin (549_CR40) 2018; 18 B Zi (549_CR15) 2019; 132 M Plooij (549_CR21) 2018; 3 549_CR42 G Niemeyer (549_CR33) 2016 J Piao (549_CR47) 2019; 19 M Sato (549_CR22) 1992; 23 S Lahouar (549_CR10) 2009; 57 B Baigzadehnoe (549_CR36) 2019; 80 P M Kebria (549_CR30) 2019; 49 X Tang (549_CR5) 2014; 6 P Miermeister (549_CR52) 2016 L Scalera (549_CR13) 2018; 34 S Kawamura (549_CR6) 1993; 1 G Castelli (549_CR20) 2014; 30 J Jung (549_CR38) 2018 A Elahi (549_CR35) 2018; 91 S Qian (549_CR2) 2018; 31 J Saint-Aubert (549_CR26) 2018 A Pott (549_CR1) 2018 H Yang (549_CR37) 2019; 156 J J Craig (549_CR45) 2005 J Bolboli (549_CR53) 2019; 114 |
| References_xml | – reference: PiaoJJinXJungJChoiEParkJ-OKimC-SOpen-loop position control of a polymer cable-driven parallel robot via a viscoelastic cable model for high payload workspacesAdvances in Mechanical Engineering201791216878140177371910.1177/1687814017737199 – reference: HirataYShiraiRKosugeKPosition and orientation control of passive wire-driven motion support system using servo brakesProc. of IEEE International Conference on Robotics and Automation (ICRA)201737023707 – reference: KinoHKawamuraSMechanism and Control of Parallel-Wire Driven SystemJournal of Robotics and Mechatronics201527659960710.20965/jrm.2015.p0599 – reference: LaycockS DDayA MRecent developments and applications of haptic devicesComputer Graphics Forum200322211713210.1111/1467-8659.00654 – reference: ScaleraLGallinaPSerianiSGasparettoACable-based robotic crane (CBRC): design and implementation of overhead traveling cranes based on variable radius drumsIEEE Trans. on Robotics201834247448510.1109/TRO.2018.2791593 – reference: NiemeyerGPreuscheCStramigioliSLeeDSicilianoBKhatibOTeleroboticsSpringer Handbook of Robotics20162nd ed.1085110810.1007/978-3-319-32552-1_43 – reference: Peñaloza-MejíaOMárquez-MartínezL AAlvarez-GallegosJAlvarezJMaster-slave teleoperation of underactuated mechanical systems with communication delaysInternational Journal of Control, Automation and Systems201715282783610.1007/s12555-015-0126-8 – reference: JamshidifarHKhosravaniSFidanBKhajepourAVibration decoupled modeling and robust control of redundant cable-driven parallel robotsIEEE/ASME Trans. on Mechatronics201823269070110.1109/TMECH.2018.2793578 – reference: SatoMHirataYKawaradaHSpace interface device for artificial reality-SPIDARSystems and Computers in Japan19922312445410.1002/scj.4690231204 – reference: GosselinCCable-driven parallel mechanisms: state of the art and perspectivesMechanical Engineering Reviews201411DSM0004DSM000410.1299/mer.2014dsm0004 – reference: “BECKHOFF New Automation Technology,” url-https://beckhoff.com/. – reference: BolboliJKhosraviM AAbdollahiFStiffness feasible workspace of cable-driven parallel robots with application to optimal design of a planar cable robotRobotics and Autonomous Systems2019114192810.1016/j.robot.2019.01.012 – reference: JinXJungJKoSChoiEParkJ-OKimC-SGeometric parameter calibration for a cable-driven parallel robot based on a single one-dimensional laser distance sensor measurement and experimental modelingSensors2018187239210.3390/s18072392 – reference: XiaoRHuangJWuPLarge space force feedback system based on stringProc. of 2011 International Conference on Computer Science and Network Technology20112705270810.1109/ICCSNT.2011.6182524 – reference: ConeL LSkycam, an aerial robotic camera systemByte Magazine19851010122132 – reference: KrausWKesslerMPottAPulley friction compensation for winch-integrated cable force measurement and verification on a cable-driven parallel robotProc. of IEEE International Conference on Robotics and Automation (ICRA)201516271632 – reference: LahouarSOttavianoEZeghoulSRomdhaneLCeccarelliMCollision free path-planning for cable-driven parallel robotsRobotics and Autonomous Systems200957111083109310.1016/j.robot.2009.07.006 – reference: ScarciaUMorielloLPepeAPalliGMelchiorriCDesign of a twisted-string actuator for haptic force renderingIFAC-PapersOnLine2018512247948510.1016/j.ifacol.2018.11.588 – reference: KawamuraSKinoHWonCHigh-speed manipulation by using parallel wire-driven robotsRobotica2000181132110.1017/S0263574799002477 – reference: JungJPiaoJParkSParkJ-OKoS YAnalysis of cable tension of high speed parallel cable robot: High speed position tracking of winchProc. of 16th International Conference on Control, Automation and Systems (ICCAS)201610531056 – reference: DiaoXMaOVibration analysis of cable-driven parallel manipulatorsMultibody System Dynamics20092143473601350.7000310.1007/s11044-008-9144-0 – reference: PottACable-Driven Parallel Robots201810.1007/978-3-319-76138-1 – reference: MiermeisterPLächeleMBossRMasoneCSchenkCTeschJKergerMTeufelHPottABülthoffH HThe CableRobot simulator: large scale motion platform based on cable robot technologyProc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)201630243029 – reference: YangHLiHXiaYLiLHierarchical fusion estimation for multi-sensor networked systems with transmission delays and packet dropoutsSignal Processing201915615616510.1016/j.sigpro.2018.10.021 – reference: ElahiAAlfiAStochastic H8 finite-time control of networked cascade control systems under limited channels, network delaysISA Transsactions2019 – reference: BaigzadehnoeBRezaieBRahmaniZFuzzymodel-based fault detection for nonlinear networked control systems with periodic access constraints and Bernoulli packet dropoutsApplied Soft Computing20198046547410.1016/j.asoc.2019.04.023 – reference: Torres-MendezSKhajepourAAnalysis of a high stiffness warehousing cable-based robotProc. of Volume 5A: 38th Mechanisms and Robotics Conference2014V05AT08A08810.1115/DETC2014-34541 – reference: KimW SDevelopments of new force reflecting control schemes and an application to a teleoperation training simulatorProc. of IEEE International Conference on Robotics and Automation199214121419 – reference: CuiXChenWJinXAgrawalS KDesign of a 7-DOF cable-driven arm exoskeleton (CAREX-7) and a controller for dexterous motion training or assistanceIEEE/ASME Trans. on Mechatronics201722116117210.1109/TMECH.2016.2618888 – reference: OtisM J-DMokhtariMdu TremblayCLaurendeauDde RainvilleF-MGosselinC MHybrid control with multi-contact interactions for 6DOF haptic foot platform on a cable-driven locomotion interfaceProc. of Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems200816116810.1109/HAPTICS.2008.4479937 – reference: Saint-AubertJRegnierSHaliyoSCable driven haptic interface for co-localized desktop VRProc. of IEEE Haptics Symposium (HAPTICS)2018351356 – reference: TangXAn overview of the development for cable-driven parallel manipulatorAdvances in Mechanical Engineering2014682302810.1155/2014/823028 – reference: BosscherPWilliamsR LBrysonL SCastro-LacoutureDCable-suspended robotic contour crafting systemAutomation in Construction2007171455510.1016/j.autcon.2007.02.011 – reference: LeeHChoiHParkSAccurate modeling and nonlinearity compensation in the speed mode of a twisted string actuatorMechanism and Machine Theory2019137536610.1016/j.mechmachtheory.2019.03.021 – reference: KebriaP MAbdiHDalvandM MKhosraviANahavandiSControl methods for internet-based teleoperation systems: a reviewIEEE Trans. on Human-Machine Systems2019491324610.1109/THMS.2018.2878815 – reference: JungJKimE-SJinXPiaoJChoiEParkJ-OKimC-SA cable-driven parallel robot remotely controlled by a human-driven parallel cable robotProc. of 50th International Symposium on Robotics2018263268 – reference: LiYYinYZhangDIMC-based design for teleoperation systems with time delaysInternational Journal of Control, Automation and Systems201816288789510.1007/s12555-016-0643-0 – reference: LindemannRTesarDConstruction and demonstration of a 9-string 6 DOF force reflecting joystick for teler-oboticsProc. of NASA Conference on Space Telerobotics19895563 – reference: CraigJ JIntroduction to Robotics: Mechanics and Control20053rd ed – reference: ElahiAAlfiAFinite-time H8 stability analysis of uncertain network-based control systems under random packet dropout and varying network delayNonlinear Dynamics201891171373137404961390.9328010.1007/s11071-017-3905-3 – reference: KawamuraSItoKA new type of master robot for teleoperation using a radial wire drive systemProc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’93)199315560 – reference: “Dyneema® The world’s strongest fiber.” https://www.dsm.com/products/dyneema/en_GB/home.html. – reference: International Journal of Advanced Robotic Systems2018151 – reference: QianSZiBShangW-WXuQ-SA review on cable-driven parallel robotsChinese Journal of Mechanical Engineering20183116610.1186/s10033-018-0267-9 – reference: AslH JYoonJStable assist-as-needed controller design for a planar cable-driven robotic systemInternational Journal of Control, Automation and Systems20171562871288210.1007/s12555-016-0492-x – reference: SlawiñskiEPostigoJ FMutVBilateral teleoperation through the InternetRobotics and Autonomous Systems200755320521510.1016/j.robot.2006.09.002 – reference: CastelliGOttavianoEReaPA Cartesian cablesuspended robot for improving end-users’ mobility in an urban environmentRobotics and Computer-integrated Manufacturing201430333534310.1016/j.rcim.2013.11.001 – reference: PiaoJKimE-SChoiHMoonC-BChoiEParkJ-OKimC-SIndirect force control of a cable-driven parallel robot: tension estimation using artificial neural network trained by force sensor measurementsSensors20191911252010.3390/s19112520 – reference: BruckmannTMikelsonsLBrandtTHillerMSchrammDRyuJ-HWire Robots Part I: Kinematics, Analysis & DesignParallel Manipulators2008109132 – reference: MerletJ-PThe kinematics of cable-driven parallel robots with sagging cables: preliminary resultsProc. of IEEE International Conference on Robotics and Automation (ICRA)201515931598 – reference: ZiBWangNQianSBaoKDesign, stiffness analysis and experimental study of a cable-driven parallel 3D printerMechanism and Machine Theory201913220722210.1016/j.mechmachtheory.2018.11.003 – reference: PlooijMKellerUSterkeBKomiSValleryHvon ZitzewitzJDesign of RYSEN: an intrinsically safe and low-power three-dimensional overground body weight supportIEEE Robotics and Automation Letters2018332253226010.1109/LRA.2018.2812913 – reference: GanjefarSAfsharMSarajchiM HShaoZController design based on wavelet neural adaptive proportional plus conventional integral-derivative for bilateral teleoperation systems with time-varying parametersInternational Journal of Control, Automation and Systems20181652405242010.1007/s12555-017-0739-1 – start-page: V05AT08A088 volume-title: Proc. of Volume 5A: 38th Mechanisms and Robotics Conference year: 2014 ident: 549_CR16 doi: 10.1115/DETC2014-34541 – volume: 10 start-page: 122 issue: 10 year: 1985 ident: 549_CR11 publication-title: Byte Magazine – volume: 18 start-page: 2392 issue: 7 year: 2018 ident: 549_CR40 publication-title: Sensors doi: 10.3390/s18072392 – volume: 15 start-page: 2871 issue: 6 year: 2017 ident: 549_CR18 publication-title: International Journal of Control, Automation and Systems doi: 10.1007/s12555-016-0492-x – start-page: 351 volume-title: Proc. of IEEE Haptics Symposium (HAPTICS) year: 2018 ident: 549_CR26 – volume: 80 start-page: 465 year: 2019 ident: 549_CR36 publication-title: Applied Soft Computing doi: 10.1016/j.asoc.2019.04.023 – start-page: 1412 volume-title: Proc. of IEEE International Conference on Robotics and Automation year: 1992 ident: 549_CR50 doi: 10.1109/ROBOT.1992.220152 – volume: 137 start-page: 53 year: 2019 ident: 549_CR27 publication-title: Mechanism and Machine Theory doi: 10.1016/j.mechmachtheory.2019.03.021 – volume: 9 start-page: 168781401773719 issue: 12 year: 2017 ident: 549_CR7 publication-title: Advances in Mechanical Engineering doi: 10.1177/1687814017737199 – volume: 22 start-page: 117 issue: 2 year: 2003 ident: 549_CR17 publication-title: Computer Graphics Forum doi: 10.1111/1467-8659.00654 – volume: 18 start-page: 13 issue: 1 year: 2000 ident: 549_CR51 publication-title: Robotica doi: 10.1017/S0263574799002477 – volume: 15 issue: 1 year: 2018 ident: 549_CR12 publication-title: International Journal of Advanced Robotic Systems – volume: 132 start-page: 207 year: 2019 ident: 549_CR15 publication-title: Mechanism and Machine Theory doi: 10.1016/j.mechmachtheory.2018.11.003 – volume: 3 start-page: 2253 issue: 3 year: 2018 ident: 549_CR21 publication-title: IEEE Robotics and Automation Letters doi: 10.1109/LRA.2018.2812913 – start-page: 161 volume-title: Proc. of Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems year: 2008 ident: 549_CR23 doi: 10.1109/HAPTICS.2008.4479937 – volume: 16 start-page: 887 issue: 2 year: 2018 ident: 549_CR48 publication-title: International Journal of Control, Automation and Systems doi: 10.1007/s12555-016-0643-0 – volume: 34 start-page: 474 issue: 2 year: 2018 ident: 549_CR13 publication-title: IEEE Trans. on Robotics doi: 10.1109/TRO.2018.2791593 – volume: 27 start-page: 599 issue: 6 year: 2015 ident: 549_CR3 publication-title: Journal of Robotics and Mechatronics doi: 10.20965/jrm.2015.p0599 – volume-title: Cable-Driven Parallel Robots year: 2018 ident: 549_CR1 doi: 10.1007/978-3-319-76138-1 – volume: 16 start-page: 2405 issue: 5 year: 2018 ident: 549_CR32 publication-title: International Journal of Control, Automation and Systems doi: 10.1007/s12555-017-0739-1 – volume: 23 start-page: 44 issue: 12 year: 1992 ident: 549_CR22 publication-title: Systems and Computers in Japan doi: 10.1002/scj.4690231204 – volume: 1 start-page: 55 year: 1993 ident: 549_CR6 publication-title: Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’93) – start-page: 3702 volume-title: Proc. of IEEE International Conference on Robotics and Automation (ICRA) year: 2017 ident: 549_CR25 – volume: 19 start-page: 2520 issue: 11 year: 2019 ident: 549_CR47 publication-title: Sensors doi: 10.3390/s19112520 – volume: 23 start-page: 690 issue: 2 year: 2018 ident: 549_CR44 publication-title: IEEE/ASME Trans. on Mechatronics doi: 10.1109/TMECH.2018.2793578 – volume: 156 start-page: 156 year: 2019 ident: 549_CR37 publication-title: Signal Processing doi: 10.1016/j.sigpro.2018.10.021 – volume: 6 start-page: 823028 year: 2014 ident: 549_CR5 publication-title: Advances in Mechanical Engineering doi: 10.1155/2014/823028 – volume: 51 start-page: 479 issue: 22 year: 2018 ident: 549_CR28 publication-title: IFAC-PapersOnLine doi: 10.1016/j.ifacol.2018.11.588 – volume: 15 start-page: 827 issue: 2 year: 2017 ident: 549_CR49 publication-title: International Journal of Control, Automation and Systems doi: 10.1007/s12555-015-0126-8 – volume: 17 start-page: 45 issue: 1 year: 2007 ident: 549_CR14 publication-title: Automation in Construction doi: 10.1016/j.autcon.2007.02.011 – ident: 549_CR39 – volume: 21 start-page: 347 issue: 4 year: 2009 ident: 549_CR9 publication-title: Multibody System Dynamics doi: 10.1007/s11044-008-9144-0 – volume: 55 start-page: 205 issue: 3 year: 2007 ident: 549_CR31 publication-title: Robotics and Autonomous Systems doi: 10.1016/j.robot.2006.09.002 – volume-title: ISA Transsactions year: 2019 ident: 549_CR34 – volume: 49 start-page: 32 issue: 1 year: 2019 ident: 549_CR30 publication-title: IEEE Trans. on Human-Machine Systems doi: 10.1109/THMS.2018.2878815 – start-page: 1627 volume-title: Proc. of IEEE International Conference on Robotics and Automation (ICRA) year: 2015 ident: 549_CR46 – volume: 57 start-page: 1083 issue: 11 year: 2009 ident: 549_CR10 publication-title: Robotics and Autonomous Systems doi: 10.1016/j.robot.2009.07.006 – volume: 22 start-page: 161 issue: 1 year: 2017 ident: 549_CR19 publication-title: IEEE/ASME Trans. on Mechatronics doi: 10.1109/TMECH.2016.2618888 – start-page: 2705 volume-title: Proc. of 2011 International Conference on Computer Science and Network Technology year: 2011 ident: 549_CR24 doi: 10.1109/ICCSNT.2011.6182524 – volume: 91 start-page: 713 issue: 1 year: 2018 ident: 549_CR35 publication-title: Nonlinear Dynamics doi: 10.1007/s11071-017-3905-3 – start-page: 109 volume-title: Parallel Manipulators year: 2008 ident: 549_CR43 – ident: 549_CR42 – volume: 1 start-page: DSM0004 issue: 1 year: 2014 ident: 549_CR4 publication-title: Mechanical Engineering Reviews doi: 10.1299/mer.2014dsm0004 – volume: 30 start-page: 335 issue: 3 year: 2014 ident: 549_CR20 publication-title: Robotics and Computer-integrated Manufacturing doi: 10.1016/j.rcim.2013.11.001 – volume: 31 start-page: 66 issue: 1 year: 2018 ident: 549_CR2 publication-title: Chinese Journal of Mechanical Engineering doi: 10.1186/s10033-018-0267-9 – start-page: 1053 volume-title: Proc. of 16th International Conference on Control, Automation and Systems (ICCAS) year: 2016 ident: 549_CR41 – start-page: 3024 volume-title: Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) year: 2016 ident: 549_CR52 – volume: 114 start-page: 19 year: 2019 ident: 549_CR53 publication-title: Robotics and Autonomous Systems doi: 10.1016/j.robot.2019.01.012 – start-page: 1085 volume-title: Springer Handbook of Robotics year: 2016 ident: 549_CR33 doi: 10.1007/978-3-319-32552-1_43 – volume-title: Introduction to Robotics: Mechanics and Control year: 2005 ident: 549_CR45 – start-page: 1593 volume-title: Proc. of IEEE International Conference on Robotics and Automation (ICRA) year: 2015 ident: 549_CR8 – start-page: 55 volume-title: Proc. of NASA Conference on Space Telerobotics year: 1989 ident: 549_CR29 – start-page: 263 volume-title: Proc. of 50th International Symposium on Robotics year: 2018 ident: 549_CR38 |
| SSID | ssj0066297 |
| Score | 2.295338 |
| Snippet | Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel... |
| SourceID | nrf proquest crossref springer |
| SourceType | Open Website Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | 1792 |
| SubjectTerms | Cartesian coordinates Control Degrees of freedom Electrical impedance Engineering Mechatronics Nuclear power plants Regular Papers Robot control Robotics Robots Wireless communications 제어계측공학 |
| Title | Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot |
| URI | https://link.springer.com/article/10.1007/s12555-019-0549-8 https://www.proquest.com/docview/2412719702 https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002593294 |
| Volume | 18 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| ispartofPNX | International Journal of Control, 2020, Automation, and Systems, 18(7), , pp.1792-1805 |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LS8QwEA66XvQgPnF1lSCelEDzbHNcF98oIi7oKbRpKmJppa4H_72TPlwVFTz1kEkKM8nMN8wLoT1KE5ZwZYkWwhHBnCUxVYw4FtEgS7m12tc7X16p07E4v5N3bR33S5ft3oUka009LXYD9OsTzTQBmKFJNIvmJLju_lqP2bBTv0qxZqKK1BEBY6-6UOZPR3wxRrNFlX3Bmd9Co7XFOV5Ciy1UxMNGtstoxhUraOFTA8FVVJyByaizf_DhYx77auIc34IlKZ9dI1pcZjjGI18gRdLKqzZ8HVd-gEqOb8qknOBRk6yeuxQnb3_TrqHx8dHt6JS0ExSI5TKYEAlvzIWB5jRlyiobaEstDZ1wivNYSSuBg4o5qdM4k7AWUS5cIrlVWkiR8HXUK8rCbSCcgNbMKI0FtSm4LKCbVJg6x2zMI-By1EdBx0pj2_bifspFbqaNkT33DXDfeO4b2LL_seW56a3xF_EuyMc82UfjO2L770NpnioDuP_MAMgKARn10aATn2nf4osBjMJCqsOA9dFBJ9Lp8q9_3PwX9RaaZ94VrzN5B6g3qV7dNuCVSbKD5oYn9xdHO_U9fQfolOC1 |
| linkProvider | Springer Nature |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LT9wwEB6V5dBy6LtiKW2tqqdWRrEdO_GRrqC75aGqWiR6smLHqdBGCQrhQH99x5uEBdQiccrBdhJ7Xt_I8wD4xJjlVihHdRx7GnPvaMYUp56nLCpy4ZwO-c5Hx2p6En8_lad9HvfFEO0-XEkuNfUq2Q3Rbwg00xRhhqbpGqzH6ILLEazvfvt1sDcoYKV411NF6pSiuVfDZea_XnLLHK1VTXELad65HF3anP1nMB_-tgs1WexctnbH_blTyPGB23kOT3sMSnY7pnkBj3z1EjZuVCZ8BdUMbdEyrIh8PSuzkKZckjmaqPrcdzxD6oJkZBIyr2jeBJ1JfmRN6MxSkp-1rVsy6aLgS58Te3X_3Ndwsr83n0xp35qBOiGjlkoUXp9EWrCcK6dcpB1zLPGxV0JkSjopeaS4lzrPColjKROxt1I4hRSLrXgDo6qu_CYQi-q4YCyLmcvRF0Klp5Lce-4ykSLx0jFEA4WM6-uWh_YZpVlVXA5HafAoTThKg0s-Xy8574p23Df5I5LdLNyZCaW2w_N3bRaNQYdiZhC9JQi5xrA9cIXphfzCIPjhCdNJxMfwZSDyavi_X9x60OwP8Hg6Pzo0h7Pjg7fwhAd_fxkuvA2jtrn07xAUtfZ9LwR_AerC_uE |
| linkToPdf | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3fS9xAEF6qBbEPxVrFa60u4lNlMfsz2Ud7enhVDxEPfFuSzUaOC8mRiw_-9529JF6vVMGnPOxsAjPZmW_Yb2YQOqY0YQlXlmghHBHMWRJTxYhjEQ2ylFurfb3zzUhdjsXvB_nQzjmdd2z37kqyqWnwXZqK-nSWZqfLwjdAwp50pglADk2iNfQRvDH1nK4xO-tcsVKsma4idUQg8KvuWvN_r1gJTGtFla1gzn-uSRfRZ7CFPrewEZ81dv6CPrhiG336q5ngV1QMIXwsmED41ySPfWVxju8hqpQz15gZlxmOcd8XS5G08m4O38aVH6aS47syKWvcb4jruUtx8vy27A4aDy7u-5eknaZALJdBTSScNxcGmtOUKatsoC21NHTCKc5jJa2ULFDMSZ3GmYS1iHLhEsmt0kKKhO-i9aIs3B7CCXjQjNJYUJtC-gJ-SoWpc8zGPAItRz0UdKo0tm017ide5GbZJNlr34D2jde-gS0_X7bMmj4bbwkfgX3M1E6M747tn4-lmVYGcoChAcAVAkrqof3OfKY9l3MDeIWFVIcB66GTzqTL5Ve_-O1d0odo4_Z8YK6Ho6vvaJP5DH1B8N1H63X15H4AjKmTg8Wv-gfVs-ZQ |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Intuitive+Bilateral+Teleoperation+of+a+Cable-driven+Parallel+Robot+Controlled+by+a+Cable-driven+Parallel+Robot&rft.jtitle=International+journal+of+control%2C+automation%2C+and+systems&rft.au=Choi%2C+Hongseok&rft.au=Piao%2C+Jinlong&rft.au=Kim%2C+Eui-Sun&rft.au=Jung%2C+Jinwoo&rft.date=2020-07-01&rft.issn=1598-6446&rft.eissn=2005-4092&rft.volume=18&rft.issue=7&rft.spage=1792&rft.epage=1805&rft_id=info:doi/10.1007%2Fs12555-019-0549-8&rft.externalDBID=n%2Fa&rft.externalDocID=10_1007_s12555_019_0549_8 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1598-6446&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1598-6446&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1598-6446&client=summon |