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Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots
(Taylor & Francis, 2015-05)
Teleoperation task performance strongly depends on how well the human operator´s commands are executed. In this paper, we propose a control scheme for delayed bilateral teleoperation of mobile robots that considers user´s ...
Force and Position-Velocity Coordination for Delayed Bilateral Teleoperation of a Mobile Robot
(Cambridge University Press, 2019-10)
This document proposes a control scheme for delayed bilateral teleoperation of a mobile robot, which it is sought to achieve a coordination of the master device position with the slave mobile robot velocity, and at the ...
Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay
(Institute of Electrical and Electronics Engineers, 2020-10)
This paper proposes a P+d like control scheme and calibration guidelines addressed to achieve stable dual coordination of force and motion in a bilateral teleoperation system of a mobile robot considering time-varying ...
P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
(Inst Control Robotics & Systems, 2018-08)
This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The ...
Human-inspired stable bilateral teleoperation of mobile manipulators
(Elsevier Science Inc, 2019-12)
This paper presents a novel strategy for delayed bilateral teleoperation of mobile manipulator robots. The strategy is based on the hypothesis that if the slave robot behaves similarly as the operator would do to the same ...
Analysis and Experimentation of a Mobile Robot Teleoperation System over Internet
(Institute of Electrical and Electronics Engineers, 2014-10)
In this paper, stability analysis and experimentation of a control scheme for bilateral teleoperation of mobile robots, which considers a remote variant-gain impedance is proposed. The analysis considers variant channel ...
Haptic aids for bilateral teleoperators
(SpringerSuiza, 2014)
Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of
a proper mapping ...
Hand controller for bilateral teleoperation of robots
(Cambridge University Press, 2000-11)
Teleoperation, one of the oldest areas of robotics, has experienced considerable growth in the last two decades. Main causes for this trend are the need for increased safety levels for human operators and lower production ...
Nonlinear bilateral teleoperation: Stability analysis
(2009)
This paper aims to take a first step towards the unification of the stability analysis for teleoperators with timedelays. It proposes a general Lyapunov-like function that, upon slight modification, allows to analyze the ...