Full text
![]() |
PDF
- Users in campus UPM only
- Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (255kB) |
Tafur Sotelo, Julio César and García, Cecilia and Aracil Santonja, Rafael and Saltaren Pazmiño, Roque Jacinto (2011). Real-time bilateral control of a nonlinear teleoperation system. In: "12th International Workshop on Research and Education in Mechatronics", 15/09/2011 - 16/09/2011, Kocaeli, Turkey. ISBN 978-975-8047-96-3. pp. 1-7.
Title: | Real-time bilateral control of a nonlinear teleoperation system |
---|---|
Author/s: |
|
Item Type: | Presentation at Congress or Conference (Article) |
Event Title: | 12th International Workshop on Research and Education in Mechatronics |
Event Dates: | 15/09/2011 - 16/09/2011 |
Event Location: | Kocaeli, Turkey |
Title of Book: | 12th International Workshop on Research and Education in Mechatronics |
Date: | 2011 |
ISBN: | 978-975-8047-96-3 |
Subjects: | |
Freetext Keywords: | Teleoperation, State Convergence, Stability, Lyapunov-Krasovskii, Time Delay |
Faculty: | E.T.S.I. Industriales (UPM) |
Department: | Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial |
Creative Commons Licenses: | Recognition - No derivative works - Non commercial |
![]() |
PDF
- Users in campus UPM only
- Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (255kB) |
In this work, we study the bilateral control of a nonlinear teleoperator system with constant delay, proposes a control strategy by state convergence, which directly connect the local and remote manipulator through feedback signals of position and speed. The control signal allows the remote manipulator follow the local manipulator through the state convergence even if it has a delay in the communication channel. The bilateral control of the teleoperator system considers the case when the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis is performed using functional of Lyapunov-Krasovskii, it showed that using a control algorithm by state convergence for the case with constant delay, the nonlinear local and remote teleoperation system is asymptotically stable, also speeds converge to zero and position tracking is achieved.
Item ID: | 34979 |
---|---|
DC Identifier: | http://oa.upm.es/34979/ |
OAI Identifier: | oai:oa.upm.es:34979 |
Official URL: | http://rem2011.kocaeli.edu.tr/index.php |
Deposited by: | Memoria Investigacion |
Deposited on: | 29 Feb 2016 15:11 |
Last Modified: | 05 Apr 2016 10:18 |