Mostra el registre d'ítem simple
Control of bilateral teleoperators in operational space without velocity measurements
dc.contributor.author | Aldana López, Carlos Iván |
dc.contributor.author | Nuño, Emmanuel |
dc.contributor.author | Basañez Villaluenga, Luis |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2014-02-25T12:40:35Z |
dc.date.created | 2013 |
dc.date.issued | 2013 |
dc.identifier.citation | Aldana, 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. |
dc.identifier.uri | http://hdl.handle.net/2117/21750 |
dc.description.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. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Control systems |
dc.title | Control of bilateral teleoperators in operational space without velocity measurements |
dc.type | Conference report |
dc.subject.lemac | Robots -- Sistemes de control |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1109/IROS.2013.6697144 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 13049135 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Aldana, C.; Nuño, E.; Basañez, L. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | Tokyo |
local.citation.publicationName | Proceedings IROS 2013 |
local.citation.startingPage | 5445 |
local.citation.endingPage | 5450 |