Teleoperation of a manipulator with a master robot of different kinematics: using bilateral control by state converge

Peña, César and Aracil Santonja, Rafael and Saltaren Pazmiño, Roque Jacinto and Banfield, Ilka (2008). Teleoperation of a manipulator with a master robot of different kinematics: using bilateral control by state converge. In: "11th International Conference on Climbing and Walking Robots, CLAWAR", 08/09/2008-10/09/2008, Coimbra, Portugal. ISBN 9789812835765.

Description

Title: Teleoperation of a manipulator with a master robot of different kinematics: using bilateral control by state converge
Author/s:
  • Peña, César
  • Aracil Santonja, Rafael
  • Saltaren Pazmiño, Roque Jacinto
  • Banfield, Ilka
Item Type: Presentation at Congress or Conference (Article)
Event Title: 11th International Conference on Climbing and Walking Robots, CLAWAR
Event Dates: 08/09/2008-10/09/2008
Event Location: Coimbra, Portugal
Title of Book: Advances in mobile robotics. Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Date: 9 October 2008
ISBN: 9789812835765
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper presents the teleoperation method of manipulators which have different kinematics with respect of the master robots using bilateral control by state convergence. This method makes a relation between the kinematics of the master and slave robot using a virtual robot. This method allows controlling manipulators which are a part of different kinds of robot as: climber robots, underwater robots, human robots, etc.

More information

Item ID: 4187
DC Identifier: http://oa.upm.es/4187/
OAI Identifier: oai:oa.upm.es:4187
Official URL: http://eproceedings.worldscinet.com/9789812835772/9789812835772_0097.html
Deposited by: Memoria Investigacion
Deposited on: 29 Mar 2011 07:57
Last Modified: 20 Apr 2016 13:31
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