Ara es mostren els items 1-20 de 48

  • A framework for robotized teleoperated tasks 

    Basañez Villaluenga, Luis; Rosell Gratacòs, Jan; Palomo Avellaneda, Leopold; Nuño Ortega, Emmanuel; Portilla Rodríguez, Henry (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
    Text en actes de congrés
    Accés obert
    Teleoperation systems allow the extension of the human operator’s sensing and manipulative capability into a remote environment to perform tasks at a distance, but the time-delays in the communications affect the stability ...
  • A proportional plus damping injection controller for teleoperators with joint fexibility and time–delays 

    Nuño Ortega, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis; Kinnaert, Michel (IEEE, 2012)
    Comunicació de congrés
    Accés restringit per política de l'editorial
    The problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a bilateral teleoperation scenario is ...
  • A relational positioning methodology for robot task specification and execution 

    Rodríguez Tsouroukdissian, Adolfo; Basañez Villaluenga, Luis; Celaya Llover, Enric (IEEE, 2008)
    Article
    Accés obert
    This paper presents a relational positioning methodology that allows to restrict totally or partially the movements of an object by specifying its allowed positions in terms of a set of intuitive geometric constraints. In ...
  • Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays 

    Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo (2010)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Two controllers capable of achieving asymptotic convergence of position and velocity errors, of the ithmanipulator within a multiple robot network, are proposed. The controllers employ adaptive techniques to find an ...
  • An adaptive controller for bilateral teleoperators: transatlantic experiments using the internet 

    Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; de Alba Padilla, Carlos; López Franco, Carlos (2012)
    Comunicació de congrés
    Accés restringit per política de l'editorial
    A bilateral teleoperator is composed of a local and a remote manipulators interconnected through a communication channel. A human operator interacts with the local manipulator to remotely execute a given task via the ...
  • An adaptive controller for nonlinear teleoperators with variable time-delays 

    Sarras, Ioannis; Nuño, Emmanuel; Basañez Villaluenga, Luis (2014-10-01)
    Article
    Accés restringit per política de l'editorial
    In most real-life bilateral teleoperators the available physical parameters are uncertain and the communications exhibit variable time-delays. In order to confront these situations and only assuming that a bound of the ...
  • Bilateral haptic guided Robot teleoperation via packet switched networks using wave variables with impedance adaptation 

    Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis (Departament d'Enginyeria de Sistemes, Automàtica i Informació Industrial (ESAII), Institut d'Organització i Control de Sistemes Industrial (IOC), Institut de Robòtica i Informàtica (IRI) de la Universitat Politècnica de Catalunya, 2006-07)
    Text en actes de congrés
    Accés obert
    This paper presents the use of haptic devices in teleoperation systems with motion restrictions during robot teleoperation in order to provide the operator with increased awareness and better feeling of immersion, hence, ...
  • Bilateral teleoperation control without velocity measurements 

    Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Obregón-Pulido, Guillermo; Solís-Perales, Gualberto (2011)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    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 ...
  • Bilateral Teleoperation of Cooperative Manipulators 

    Aldana, Carlos; Basañez Villaluenga, Luis (2012)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    This paper presents an adaptive controller for the bilateral teleoperation of a system composed by a single local manipulator and multiple cooperative remote manipulators handling a common object. First, the nonlinear ...
  • Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays 

    Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Abstract—It is widely known that the problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a ...
  • BUMBLEBEEXB3 

    Beltrán Guerrero, Diana; Basañez Villaluenga, Luis (2014-07-15)
    Report de recerca
    Accés obert
  • Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers 

    Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis (2013-12)
    Article
    Accés restringit per política de l'editorial
    This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can ...
  • Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays 

    Nuño Ortega, Emmanuel; Sarras, Ioannis; Panteley, Elena; Basañez Villaluenga, Luis (2012)
    Comunicació de congrés
    Accés restringit per política de l'editorial
    The present work reports a sufficient condition for the consensus of a network of nonidentical Euler-Lagrange (EL) systems with variable time-delays in the communications. The EL-systems are controlled by simple Proportional ...
  • Consensus of networks of nonidentical robots with flexible joints, variable time--delays and unmeasurable velocities 

    Valle, Daniela; Nuño, Emmanuel; Basañez Villaluenga, Luis; Arana Daniel, Nancy (2013)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers ...
  • Consensus of networks of nonidentical robots with flexible joints, variable time-delays and immeasurable velocities 

    Valle, Daniela; Nuño, Emmanuel; Basañez Villaluenga, Luis; Arana Daniel, Nancy (2013)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers ...
  • Control digital : problemas 

    Basañez Villaluenga, Luis; Caminal Magrans, Pere (Edicions UPC, 2002)
    Llibre
    Accés restringit a la comunitat UPC
    El libro contiene setenta problemas de control digital. Cada uno de ellos contiene, junto al enunciado, su resolución detallada y una explicación motivada de sus pasos principales, así como los resultados numéricos y ...
  • Control of bilateral teleoperators in operational space without velocity measurements 

    Aldana López, Carlos Iván; Nuño, Emmanuel; Basañez Villaluenga, Luis (2013)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    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 ...
  • Control of teleoperators with joint flexibility, uncertain parameters and time-delays 

    Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis; Kinnaert, Michel (2014)
    Article
    Accés restringit per política de l'editorial
    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. ...
  • Coordination of multi-agent Euler-Lagrange systems via energy-shaping: Networking improves robustness 

    Nuño, Emmanuel; Ortega, Romeo; Jayawardhana, Bayu; Basañez Villaluenga, Luis (2013-10-01)
    Article
    Accés restringit per política de l'editorial
    In this paper, the robust coordination of multi-agent systems via energy-shaping is studied. The agents are nonidentical, Euler–Lagrange systems with uncertain parameters which are regulated (with and without exchange of ...
  • Coordination of multi-agent systems via energy–shaping: networking improves robustness 

    Nuño Ortega, Emmanuel; Ortega, Romeo; Jayawardhana, Bayu; Basañez Villaluenga, Luis (2012)
    Comunicació de congrés
    Accés restringit per política de l'editorial
    In this paper the problem of robust coordination of multi–agent systems via energy–shaping is studied. The agents are nonidentical, Euler–Lagrange systems with uncertain parameters. The control objective is to drive all ...