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Stable Delayed Bilateral Teleoperation of Mobile Manipulators
(Wiley, 2017-05)
This paper proposes a control scheme for a stable teleoperation of non-holonomic mobile manipulator robots. This configuration presents high-coupled dynamics and motion redundancy. The problem approached in this work is ...
Control for delayed bilateral teleoperation of a quadrotor
(Elsevier Science Inc, 2017-11)
This paper proposes a cascade control scheme for delayed bilateral teleoperation of a quadcopter. The strategy transforms a 6D real quadcopter to an easy-to-teleoperate 3D virtual quadcopter. The scheme is formed by a P+d ...
PD-like controller for delayed bilateral teleoperation of wheeled robots
(Taylor & Francis Ltd, 2016-08)
This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral ...
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
(Hindawi Publishing Corporation, 2015-03)
This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator`s command execution. In addition, the stability of the ...
Virtual Reality-Based Time-Delayed Haptic Teleoperation Using Point Cloud Data
(Springer Netherlands, 2019)
This paper presents a methodology for bilateral teleoperation of robots based on the use of point cloud data obtained with an RGB-D camera for providing haptic feedback, as well as a virtual robot workspace that allows the ...
PD-like controller with impedance for delayed bilateral teleoperation of mobile robots
(Cambridge University Press, 2015-04-15)
This paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control ...
Pd-like controllers for delayed bilateral teleoperation of manipulators robots
(John Wiley & Sons Ltd, 2015-08)
This paper proposes a compensated PD-like controller for delayed bilateral teleoperation of a manipulator robot. The scheme has a PD-like remote controller, a damping into the master, and a compensation strategy. The ...
Delayed Bilateral Teleoperation of the Speed and Turn Angle of a Bipedal Robot
(Cambridge University Press, 2020-07)
This paper proposes a shared control scheme which aims to achieve a stable control of the speed andturn of a bipedal robot during a delayed bilateral teleoperation. The strategy allows to get a delay-dependent damping value ...
Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
(Hindawi Publishing Corporation, 2015-07)
This paper proposes the use of simple proportional plus damping injection (P+d) controllers for delayed bilateral teleoperation of a rotorcraft UAV. The proposed control scheme involves P+d remote and local controllers, ...
Teleoperación bilateral de robots móvilesBilateral teleoperation of mobile robots
(2017-11-09)
El tema de la presente tesis doctoral se centra en el área de control automático, más específicamente en los sistemas de teleoperación bilateral de robots móviles. Las principales contribuciones de esta tesis son:
1. ...