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Passive bilateral teleoperation framework for assisted robotic tasks
Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
This paper addresses the problem of stable bilateral teleoperation, through a time-delayed communication channel, for a n-DOF system without position drift. The classical wave variables-based scheme encodes velocity and force whilst the proposed scheme encodes position and integral of force. The resulting passive communication scheme is used in an extended teleoperation framework, in which the human operator can define geometrical motion restrictions in order to increase his awareness and his feeling of immersion, hence improving his ability to perform complex tasks. The framework also provides the operator with video feedback and 3D rendering of the remote scene.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robots Control systems
Bilateral teleoperation
Assisted robotic tasks
Passive communication channel
Teleoperació bilateral
Canal de comunicació passiu
Robòtica -- Congressos
info:eu-repo/semantics/conferenceObject
Institute of Electrical and Electronics Engineers
         

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