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Bilateral teleoperation control without velocity measurements

Author
Nuño, E.; Basañez, L.; Obregón-Pulido, G.; Solís-Perales, G.
Type of activity
Presentation of work at congresses
Name of edition
18th World Congress of the International Federation of Automatic Control
Date of publication
2011
Presentation's date
2011-09-01
Book of congress proceedings
IFAC 2011 - 18th World Congress of the International Federation of Automatic Control
First page
332
Last page
337
Repository
http://hdl.handle.net/2117/15049 Open in new window
Abstract
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...
Citation
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.
Group of research
SIR - Service and Industrial Robotics

Participants

  • Nuño Ortega, Emmanuel  (author and speaker )
  • Basañez Villaluenga, Luis  (author and speaker )
  • Obregón-Pulido, Guillermo  (author and speaker )
  • Solís-Perales, Gualberto  (author and speaker )