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Title:
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Nonlinear control and geometric constraint enforcement for teleoperated task execution
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Author:
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Rodríguez Tsouroukdissian, Adolfo; Nuño Ortega, Emmanuel; Palomo Avellaneda, Leopold; Basañez Villaluenga, Luis
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Other authors:
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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 |
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Abstract:
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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. |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robots--Control systems
-Robots -- Sistemes de control |
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Rights:
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Document type:
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Article - Published version
Conference Object |
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