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Bilateral teleoperation control without velocity measurements

Autor
Nuño, E.; Basañez, L.; Obregón-Pulido, G.; Solís-Perales, G.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
18th World Congress of the International Federation of Automatic Control
Any de l'edició
2011
Data de presentació
2011-09-01
Llibre d'actes
IFAC 2011 - 18th World Congress of the International Federation of Automatic Control
Pàgina inicial
332
Pàgina final
337
Repositori
http://hdl.handle.net/2117/15049 Obrir en finestra nova
Resum
This paper presents two controllers for a nonlinear bilateral teleoperation system that do not rely on velocity measurements. Under the reasonable assumptions that the human operator and the environment define passive maps from force to velocity, both controllers can ensure boundedness of velocities and position error. Moreover, if the human and environment forces are bounded, one of the controllers ensure velocity synchronization and the other velocity convergence to zero. Simulations, comparin...
Citació
Nuño, E. [et al.]. Bilateral teleoperation control without velocity measurements. A: World Congress of the International Federation of Automatic Control. "IFAC 2011 - 18th World Congress of the International Federation of Automatic Control". Milà: 2011, p. 332-337.
Grup de recerca
SIR - Service and Industrial Robotics

Participants

  • Nuño Ortega, Emmanuel  (autor ponent)
  • Basañez Villaluenga, Luis  (autor ponent)
  • Obregón-Pulido, Guillermo  (autor ponent)
  • Solís-Perales, Gualberto  (autor ponent)