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An adaptive controller for bilateral teleoperators: transatlantic experiments using the internet

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Cita com:
hdl:2117/18117

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Nuño Ortega, Emmanuel
Basañez Villaluenga, LuisMés informacióMés informacióMés informació
de Alba Padilla, Carlos
López Franco, Carlos
Document typeConference lecture
Defense date2012
Rights accessRestricted access - publisher's policy
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
Abstract
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 remote manipulator and the interaction of the remote manipulator with the remote environment is reflected back to the human operator. Thus, the control objective is to establish local and remote position synchronization. This paper employs adaptive control techniques, that can achieve the desired control objective, to an experimental setup composed of two nonlinear manipulators. In these novel experimental results the local and remote manipulators are located in Guadalajara, Mexico, and in Barcelona, Spain, respectively. The manipulators are two Sensable's PHANToM Omni® devices and are interconnected through the Internet. It is shown, experimentally, that the adaptive controllers provide asymptotic stability of the local and remote position error even in the presence of variable timedelays.
CitationNuño, E. [et al.]. An adaptive controller for bilateral teleoperators: transatlantic experiments using the internet. A: World Automation Congress. "Proc. 2012 World Automation Congress". Puerto Vallarta: 2012, p. 1-6. 
URIhttp://hdl.handle.net/2117/18117
ISBN978-1-4673-4497-5
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  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.572]
  • SIR - Service and Industrial Robotics - Ponències/Comunicacions de congressos [118]
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