Now showing items 1-20 of 54

  • Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays 

    Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo (2010)
    Conference report
    Restricted access - publisher's policy
    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 ...
  • 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)
    Conference report
    Open Access
    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 ...
  • 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)
    Conference lecture
    Restricted access - publisher's policy
    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
    Restricted access - publisher's policy
    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 ...
  • Análisis cinemático de robots manipuladores redundantes: Aplicación a los robots Kuka LWR 4+ y ABB Yumi 

    Zaplana Agut, Isiah; Claret, Josep A.; Basañez Villaluenga, Luis (Elsevier, 2018-03)
    Article
    Open Access
    En este trabajo se presenta un análisis cinemático aplicado a dos manipuladores serie redundantes: el Kuka LWR 4+ y el ABB Yumi. En particular, se deriva la cinemática directa para ambos manipuladores y se resuelve el ...
  • A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis 

    Zaplana Agut, Isiah; Basañez Villaluenga, Luis (2018-03-01)
    Article
    Open Access
    © 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form ...
  • A Passivity-based controller without velocity measurements for the leaderless consensus of Euler-Lagrange systems 

    Nuño Ortega, Emmanuel; Ortega, Romeo; Basañez Villaluenga, Luis (2017-07-01)
    Article
    Open Access
    This paper deals with the problem of achieving consensus of multiple interconnected Euler-Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity-based control. It proposes a novel ...
  • 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)
    Conference lecture
    Restricted access - publisher's policy
    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
    Open Access
    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 ...
  • 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)
    Conference report
    Open Access
    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)
    Conference report
    Restricted access - publisher's policy
    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)
    Conference report
    Restricted access - publisher's policy
    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)
    Conference report
    Restricted access - publisher's policy
    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)
    External research report
    Open Access
  • Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers 

    Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis (2013-12)
    Article
    Restricted access - publisher's policy
    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)
    Conference lecture
    Restricted access - publisher's policy
    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 immeasurable velocities 

    Valle, Daniela; Nuño, Emmanuel; Basañez Villaluenga, Luis; Arana Daniel, Nancy (2013)
    Conference report
    Restricted access - publisher's policy
    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 unmeasurable velocities 

    Valle, Daniela; Nuño, Emmanuel; Basañez Villaluenga, Luis; Arana Daniel, Nancy (2013)
    Conference report
    Restricted access - publisher's policy
    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)
    Book
    Restricted access to the UPC academic community
    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 in the operational space of bilateral teleoperators with time-delays and without velocity measurements¿ 

    Aldana, Carlos I.; Cruz, Emmanuel; Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis (2018-01-01)
    Article
    Open Access
    This paper proposes a control scheme in the operational space for bilateral teleoperation systems composed of heterogeneous robots (kinematically and dynamically different) without velocity sensors and considering variable ...