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dc.contributor.authorAldana López, Carlos Iván
dc.contributor.authorNuño, Emmanuel
dc.contributor.authorBasañez Villaluenga, Luis
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.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.
dc.description.abstractThis 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.extent6 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Control systems
dc.titleControl of bilateral teleoperators in operational space without velocity measurements
dc.typeConference report
dc.subject.lemacRobots -- Sistemes de control
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.rights.accessRestricted access - publisher's policy
dc.description.versionPostprint (published version)
local.citation.authorAldana, C.; Nuño, E.; Basañez, L.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.publicationNameProceedings IROS 2013

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