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dc.contributor.authorAldana, Carlos I.
dc.contributor.authorCruz, Emmanuel
dc.contributor.authorNuño Ortega, Emmanuel
dc.contributor.authorBasañez Villaluenga, Luis
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.citationAldana, C., Cruz, E., Nuño, E., Basañez, L. Control in the operational space of bilateral teleoperators with time-delays and without velocity measurements¿. "IFAC-PapersOnLine", 1 Gener 2018, vol. 51, núm. 13, p. 204-209.
dc.description.abstractThis 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 time-delays in the interconnection. The proposed control scheme use a second order dynamical controller that back-propagates damping to the local and the remote manipulators. Under the assumptions that the human operator and the environment define passive maps from force to velocity, it is proved that velocities and pose (position and orientation) errors between the local and the remote manipulators are bounded. Moreover, in the case that the human and the environment forces are zero, the velocities and pose errors converge asymptotically to zero. The proposed approach employs, the singularity-free, unit-quaternions to represent the orientation of the end-effectors. The performance of the proposed controller is illustrated via simulations with a teleoperation system composed of robots with 3-DoF and 7-DoF.
dc.format.extent6 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshRobots--Control systems
dc.subject.lcshAutomatic control
dc.subject.otherOperational space
dc.subject.otherteleoperation time-delays
dc.subject.otherEuler-Lagrange systems
dc.subject.othernonlinear Control
dc.titleControl in the operational space of bilateral teleoperators with time-delays and without velocity measurements¿
dc.subject.lemacRobots -- Programació
dc.subject.lemacRobots -- Sistemes de control
dc.subject.lemacControl automàtic
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
dc.description.versionPostprint (published version)
local.citation.authorAldana, C.; Cruz, E.; Nuño, E.; Basañez, L.

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