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An adaptive controller for bilateral teleoperators: transatlantic experiments using the internet
dc.contributor.author | Nuño Ortega, Emmanuel |
dc.contributor.author | Basañez Villaluenga, Luis |
dc.contributor.author | de Alba Padilla, Carlos |
dc.contributor.author | López Franco, Carlos |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2013-03-07T11:19:37Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Nuño, 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. |
dc.identifier.isbn | 978-1-4673-4497-5 |
dc.identifier.uri | http://hdl.handle.net/2117/18117 |
dc.description.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. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Control theory |
dc.title | An adaptive controller for bilateral teleoperators: transatlantic experiments using the internet |
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 | 11640670 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Nuño, E.; Basañez, L.; de Alba, C.; López-Franco, C. |
local.citation.contributor | World Automation Congress |
local.citation.pubplace | Puerto Vallarta |
local.citation.publicationName | Proc. 2012 World Automation Congress |
local.citation.startingPage | 1 |
local.citation.endingPage | 6 |