Título:
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Bilateral Teleoperation of Cooperative Manipulators
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Autor/a:
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Aldana, Carlos; Basañez Villaluenga, Luis
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Otros autores:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
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This paper presents an adaptive controller for the bilateral teleoperation of a system composed by a single local manipulator and multiple cooperative remote manipulators
handling a common object. First, the nonlinear operational space dynamical behavior of the complete teleoperation system
is derived. Then, under the assumptions that the remote manipulators are rigidly grasping a non-deformable object and that the communications may induce constant time-delays, it is proved that velocities and position-orientation error between the local manipulator end-effector and the object asymptotically converge to zero. Simulations results are included to show the effectiveness of the proposed approach. |
Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Adaptive control systems -Sistemes adaptatius |
Derechos:
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Tipo de documento:
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Artículo - Versión publicada Objeto de conferencia |
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