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Control of bilateral teleoperators in operational space without velocity measurements

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10.1109/IROS.2013.6697144
 
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hdl:2117/21750

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Aldana López, Carlos Iván
Nuño, Emmanuel
Basañez Villaluenga, LuisMés informacióMés informació
Document typeConference report
Defense date2013
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
This paper proposes a proportional plus damping injection (P + d) controller for bilateral teleoperators in the operational space. Unit quaternions are used to describe the endeffectors’ orientation since they exhibit the well known property of being a singularity-free representation. The proposed controller does not need the measurement of the velocities, instead a passivity–based filter is used. Under the reasonable 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. Finally, experimental validation using two robots of 6-Degreesof-Freedom (DoF) shows the effectiveness of the proposed control scheme.
CitationAldana, C.; Nuño, E.; Basañez, L. Control of bilateral teleoperators in operational space without velocity measurements. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings IROS 2013". Tokyo: 2013, p. 5445-5450. 
URIhttp://hdl.handle.net/2117/21750
DOI10.1109/IROS.2013.6697144
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  • IOC - Institut d'Organització i Control de Sistemes Industrials - Ponències/Comunicacions de congressos [135]
  • SIR - Service and Industrial Robotics - Ponències/Comunicacions de congressos [116]
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