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

Author
Nuño, E.; Sarras, I.; Basañez, L.; Kinnaert, M.
Type of activity
Presentation of work at congresses
Name of edition
2012 IEEE International Conference on Robotics and Automation
Date of publication
2012
Presentation's date
2012-05-14
Book of congress proceedings
Proceedings of the 2012 IEEE International Conference on Robotics and Automation
First page
4294
Last page
4299
Publisher
IEEE
Repository
http://hdl.handle.net/2117/18122 Open in new window
Abstract
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...
Citation
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.
Group of research
SIR - Service and Industrial Robotics

Participants

  • Nuño, Emmanuel  (author and speaker )
  • Sarras, Ioannis  (author and speaker )
  • Basañez Villaluenga, Luis  (author and speaker )
  • Kinnaert, Michel  (author and speaker )