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A proportional plus damping injection controller for teleoperators with joint fexibility and time–delays

Autor
Nuño, E.; Sarras, I.; Basañez, L.; Kinnaert, M.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2012 IEEE International Conference on Robotics and Automation
Any de l'edició
2012
Data de presentació
2012-05-14
Llibre d'actes
Proceedings of the 2012 IEEE International Conference on Robotics and Automation
Pàgina inicial
4294
Pàgina final
4299
Editor
IEEE
Repositori
http://hdl.handle.net/2117/18122 Obrir en finestra nova
Resum
The problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a bilateral teleoperation scenario is still an open problem. In the present paper we report two versions of a proportional plus damping injection controller that are capable of globally stabilizing a nonlinear bilateral teleoperator with joint flexibility and variable time-delays. The first version controls a teleo...
Citació
Nuño, E. [et al.]. A proportional plus damping injection controller for teleoperators with joint fexibility and time–delays. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2012 IEEE International Conference on Robotics and Automation". St. Paul, Minessota: IEEE, 2012, p. 4294-4299.
Grup de recerca
SIR - Service and Industrial Robotics

Participants

  • Nuño, Emmanuel  (autor ponent)
  • Sarras, Ioannis  (autor ponent)
  • Basañez Villaluenga, Luis  (autor ponent)
  • Kinnaert, Michel  (autor ponent)