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Control of bilateral teleoperators in operational space without velocity measurements

Author
Aldana López, Carlos Iván; Nuño, E.; Basañez, L.
Type of activity
Presentation of work at congresses
Name of edition
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date of publication
2013
Presentation's date
2013-11-06
Book of congress proceedings
Proceedings IROS 2013
First page
5445
Last page
5450
DOI
https://doi.org/10.1109/IROS.2013.6697144 Open in new window
Repository
http://hdl.handle.net/2117/21750 Open in new window
Abstract
This paper proposes a proportional plus damping injection (P + d) controller for bilateral teleoperators in the operational space. Unit quaternions are used to describe the endeffectors’ orientation since they exhibit the well known property of being a singularity-free representation. The proposed controller does not need the measurement of the velocities, instead a passivity–based filter is used. Under the reasonable assumptions that the human operator and the environment define passive map...
Citation
Aldana, C.; Nuño, E.; Basañez, L. Control of bilateral teleoperators in operational space without velocity measurements. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings IROS 2013". Tokyo: 2013, p. 5445-5450.
Group of research
SIR - Service and Industrial Robotics

Participants

  • Aldana López, Carlos Iván  (author and speaker )
  • Nuño Ortega, Emmanuel  (author and speaker )
  • Basañez Villaluenga, Luis  (author and speaker )