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Control of teleoperators with joint flexibility, uncertain parameters and time-delays

Autor
Nuño, E.; Sarras, I.; Basañez, L.; Kinnaert, M.
Tipus d'activitat
Article en revista
Revista
Robotics and autonomous systems
Data de publicació
2014
Volum
62
Número
12
Pàgina inicial
1691
Pàgina final
1701
DOI
https://doi.org/10.1016/j.robot.2014.08.003 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/24836 Obrir en finestra nova
Resum
The problem of controlling a rigid bilateral teleoperator has been the subject of study since the late 1980s and several control approaches have been reported to deal with time-delays, position tracking and transparency. However, the general flexible case is still an open problem. The present paper reports an adaptive and damping injection controller and a proportional plus damping injection (P +d) controller which are capable of globally stabilizing a nonlinear bilateral teleoperator with joint...
Citació
Nuño, E. [et al.]. Control of teleoperators with joint flexibility, uncertain parameters and time-delays. "Robotics and autonomous systems", 2014, vol. 62, núm. 12, p. 1691-1701.
Paraules clau
Bilateral teleoperation, Joint flexibility, Time-delays, Uncertain parameters
Grup de recerca
SIR - Service and Industrial Robotics

Participants