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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 ...
Bilateral teleoperation of cooperative manipulators
(2012)
This paper presents an adaptive controller for the bilateral teleoperation of a system composed by a single local manipulator and multiple cooperative remote manipulators handling a common object. First, the nonlinear ...
Bilateral teleoperation of cooperative manipulators
(2012)
This paper presents an adaptive controller for the bilateral teleoperation of a system composed by a single local manipulator and multiple cooperative remote manipulators handling a common object. First, the nonlinear ...
Output-feedback control of nonlinear bilateral teleoperators
(2012)
The output-feedback design problem for a bilateral teleoperator scheme is considered. The recently proposed Immersion and Invariance (I&I) observer is used to obtain an exponentially convergent estimate of the unmeasured ...
Passivity-based control for bilateral teleoperation: A tutorial
(2011)
This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scatteringbased, damping injection and ...
Position tracking using adaptive control for bilateral teleoperators with time-delays
(2010)
This paper presents two versions of adaptive controllers for nonlinear bilateral teleoperators, each providing asymptotic convergence of velocity and position errors to zero, independent of constant time-delays. Moreover, ...
Output-feedback control of nonlinear bilateral teleoperators
(2012)
The output-feedback design problem for a bilateral teleoperator scheme is considered. The recently proposed Immersion and Invariance (I&I) observer is used to obtain an exponentially convergent estimate of the unmeasured ...
Asymptotic stability of teleoperators with variable time-delays
(2009)
This paper extends the previous results on position tracking for bilateral teleoperators with constant time-delays, reported in Nũno et al. IEEE Trans. Robot., vol. 24, no. 3, pp. 753-758, June 2008, to the case of variable ...
Asymptotic stability of teleoperators with variable time-delays
(2009)
This paper extends the previous results on position tracking for bilateral teleoperators with constant time-delays, reported in N?no et al. IEEE Trans. Robot., vol. 24, no. 3, pp. 753-758, June 2008, to the case of variable ...
Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays
(2013)
It is widely known that the problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80's. However, the control of flexible joint manipulators in a bilateral ...