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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 operational space dynamical behavior of the complete teleoperation system
is derived. Then, under the assumptions that the remote manipulators are rigidly grasping a non-deformable object and that the communications may induce constant time-delays, it is proved that velocities and position-orientation error between the local manipulator end-effector and the object asymptotically converge to zero. Simulations results are included to show the effectiveness of the proposed approach.
CitationAldana, C.; Basañez, L. Bilateral Teleoperation of Cooperative Manipulators. A: IEEE International Conference on Robotics and Automation. "2012 IEEE International Conference on Robotics and Automation (ICRA)". St. Paul, Minnesota: 2012, p. 4274-4279.
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