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Position tracking using adaptive control for bilateral teleoperators with time-delays

Autor
Nuño, E.; Basañez, L.; Ortega, R.; Obregón-Pulido, G.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2010 IEEE International Conference on Robotics and Automation
Any de l'edició
2010
Data de presentació
2010-05-03
Llibre d'actes
2010 IEEE International Conference on Robotics and Automation
Pàgina inicial
5370
Pàgina final
5375
Repositori
http://hdl.handle.net/2117/15052 Obrir en finestra nova
Resum
This paper presents two versions of adaptive controllers for nonlinear bilateral teleoperators, each providing asymptotic convergence of velocity and position errors to zero, independent of constant time-delays. Moreover, the proposed schemes do not rely on the use of the scattering transformation. The paper also proves that the teleoperator is Input-to-State Stable from human operator and environment inputs to some synchronization signals. Simulations show the effectiveness of the proposed cont...
Citació
Nuño, E. [et al.]. Position tracking using adaptive control for bilateral teleoperators with time-delays. A: IEEE International Conference on Robotics and Automation. "2010 IEEE International Conference on Robotics and Automation". Anchorage: 2010, p. 5370-5375.
Grup de recerca
SIR - Service and Industrial Robotics

Participants

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