Pd-like controllers for delayed bilateral teleoperation of manipulators robots

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 proposed compensation removes part of potential energy of the user´s command depend...

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Detalles Bibliográficos
Autores: Slawiñski, Emanuel, Mut, Vicente Antonio
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2015
País:Argentina
Institución:Consejo Nacional de Investigaciones Científicas y Técnicas
Repositorio:CONICET Digital (CONICET)
Idioma:inglés
OAI Identifier:oai:ri.conicet.gov.ar:11336/41870
Acceso en línea:http://hdl.handle.net/11336/41870
Access Level:acceso abierto
Palabra clave:Robot Teleoperation
Force Feedback
Time Delay
https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
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spelling Pd-like controllers for delayed bilateral teleoperation of manipulators robotsSlawiñski, EmanuelMut, Vicente AntonioRobot TeleoperationForce FeedbackTime Delayhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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 proposed compensation removes part of potential energy of the user´s command depending on the difference between the situation on the remote site and the situation as perceived by the human operator. In addition, the stability of the delayed teleoperation system is analyzed, and a comparison based on experiments is carried out in order to analyze the advantages of using the proposed compensation. Finally, results of a bilateral teleoperation including the proposed control scheme, where the master and slave exchange information by using a low-cost connection of mobile Internet, are shown.Fil: Slawiñski, Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Mut, Vicente Antonio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaJohn Wiley & Sons Ltd2015-08info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/41870Slawiñski, Emanuel; Mut, Vicente Antonio; Pd-like controllers for delayed bilateral teleoperation of manipulators robots; John Wiley & Sons Ltd; International Journal of Robust and Nonlinear Control; 25; 12; 8-2015; 1801-18151049-8923CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1002/rnc.3177info:eu-repo/semantics/altIdentifier/url/https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.3177info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2024-05-08T14:04:33Zoai:ri.conicet.gov.ar:11336/41870instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982024-05-08 14:04:33.874CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Pd-like controllers for delayed bilateral teleoperation of manipulators robots
title Pd-like controllers for delayed bilateral teleoperation of manipulators robots
spellingShingle Pd-like controllers for delayed bilateral teleoperation of manipulators robots
Slawiñski, Emanuel
Robot Teleoperation
Force Feedback
Time Delay
https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
title_short Pd-like controllers for delayed bilateral teleoperation of manipulators robots
title_full Pd-like controllers for delayed bilateral teleoperation of manipulators robots
title_fullStr Pd-like controllers for delayed bilateral teleoperation of manipulators robots
title_full_unstemmed Pd-like controllers for delayed bilateral teleoperation of manipulators robots
title_sort Pd-like controllers for delayed bilateral teleoperation of manipulators robots
dc.creator.none.fl_str_mv Slawiñski, Emanuel
Mut, Vicente Antonio
author Slawiñski, Emanuel
author_facet Slawiñski, Emanuel
Mut, Vicente Antonio
author_role author
author2 Mut, Vicente Antonio
author2_role author
dc.subject.none.fl_str_mv Robot Teleoperation
Force Feedback
Time Delay
https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
topic Robot Teleoperation
Force Feedback
Time Delay
https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
description 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 proposed compensation removes part of potential energy of the user´s command depending on the difference between the situation on the remote site and the situation as perceived by the human operator. In addition, the stability of the delayed teleoperation system is analyzed, and a comparison based on experiments is carried out in order to analyze the advantages of using the proposed compensation. Finally, results of a bilateral teleoperation including the proposed control scheme, where the master and slave exchange information by using a low-cost connection of mobile Internet, are shown.
publishDate 2015
dc.date.none.fl_str_mv 2015-08
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/41870
Slawiñski, Emanuel; Mut, Vicente Antonio; Pd-like controllers for delayed bilateral teleoperation of manipulators robots; John Wiley & Sons Ltd; International Journal of Robust and Nonlinear Control; 25; 12; 8-2015; 1801-1815
1049-8923
CONICET Digital
CONICET
url http://hdl.handle.net/11336/41870
identifier_str_mv Slawiñski, Emanuel; Mut, Vicente Antonio; Pd-like controllers for delayed bilateral teleoperation of manipulators robots; John Wiley & Sons Ltd; International Journal of Robust and Nonlinear Control; 25; 12; 8-2015; 1801-1815
1049-8923
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1002/rnc.3177
info:eu-repo/semantics/altIdentifier/url/https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.3177
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv John Wiley & Sons Ltd
publisher.none.fl_str_mv John Wiley & Sons Ltd
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 15,228081

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