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A proportional plus damping injection controller for teleoperators with joint fexibility and time–delays
dc.contributor.author | Nuño Ortega, Emmanuel |
dc.contributor.author | Sarras, Ioannis |
dc.contributor.author | Basañez Villaluenga, Luis |
dc.contributor.author | Kinnaert, Michel |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2013-03-07T12:05:43Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Nuño, E. [et al.]. A proportional plus damping injection controller for teleoperators with joint fexibility and time–delays. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2012 IEEE International Conference on Robotics and Automation". St. Paul, Minessota: IEEE, 2012, p. 4294-4299. |
dc.identifier.isbn | CFP12RAA-USB |
dc.identifier.uri | http://hdl.handle.net/2117/18122 |
dc.description.abstract | 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 still an open problem. In the present paper we report two versions of a proportional plus damping injection controller that are capable of globally stabilizing a nonlinear bilateral teleoperator with joint flexibility and variable time-delays. The first version controls a teleoperator composed by a rigid local manipulator and a flexible joint remote manipulator and the second version deals with local and remote manipulators with joint flexibility. For both schemes, it is proved that the joint and motor velocities and the local and remote position error are bounded. Moreover, if the human operator and remote environment forces are zero then velocities asymptotically converge to zero and position tracking is established. Simulations are presented to show the performance of the proposed controllers. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | IEEE |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Control theory |
dc.title | A proportional plus damping injection controller for teleoperators with joint fexibility and time–delays |
dc.type | Conference lecture |
dc.subject.lemac | Control, Teoria de |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 11640631 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Nuño, E.; Sarras, I.; Basañez, L.; Kinnaert, M. |
local.citation.contributor | IEEE International Conference on Robotics and Automation |
local.citation.pubplace | St. Paul, Minessota |
local.citation.publicationName | Proceedings of the 2012 IEEE International Conference on Robotics and Automation |
local.citation.startingPage | 4294 |
local.citation.endingPage | 4299 |