2026-04-14T04:15:55Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/161862025-07-17T13:57:43Zcom_2072_1033col_2072_452950

Nonlinear control and geometric constraint enforcement for teleoperated task execution Rodríguez Tsouroukdissian, Adolfo Nuño Ortega, Emmanuel Palomo Avellaneda, Leopold Basañez Villaluenga, Luis Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics Àrees temàtiques de la UPC::Informàtica::Robòtica Robots--Control systems Robots -- Sistemes de control This work presents a multimodal teleoperation framework that makes use of novel tools and techniques, such as: nonlinear teleoperators control, for ensuring position tracking in the presence of variable time-delays; relational positioning, for increasing operator performance on precise movement execution by visually and haptically displaying geometric constraints; and augmented reality, for visually combining real and virtual information in a compelling way. Experimental evidence is presented that validates the aptitude of the different components of the proposed framework. Postprint (published version) 2010 Conference report Rodriguez, A. [et al.]. Nonlinear control and geometric constraint enforcement for teleoperated task execution. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems". Taipei: 2010, p. 5251-5257. 978-1-4244-6676-4 https://hdl.handle.net/2117/16186 eng Restricted access - publisher's policy 7 p. application/pdf