Sistema de Control Bilateral Adaptativo por Convergencia de Estados en Teleoperación
[EN] This paper presents the design and application of a adaptative control method for a bilateral of teleoperation system. The scheme and control algorithm has been formulated in the space of states following a control technique through State Convergence of master and slave. On this scheme control...
| Autores: | , , , |
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| Formato: | artículo |
| Fecha de publicación: | 2010 |
| País: | España |
| Recursos: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/144761 |
| Acesso em linha: | https://riunet.upv.es/handle/10251/144761 |
| Access Level: | acceso abierto |
| Palavra-chave: | Adaptive control States Convergence Modeling Teleoperation Bilateral Control Adaptativo Convergencia de Estados Modelado Teleoperación |
| Resumo: | [EN] This paper presents the design and application of a adaptative control method for a bilateral of teleoperation system. The scheme and control algorithm has been formulated in the space of states following a control technique through State Convergence of master and slave. On this scheme control has been adjusted through the adaptative method the gain the of control loops to obtain a stable bilateral system with the wanted reflection of forces. The validation of the control method designed has been carried out with an experimental system master-slave of one degrade of freedom. |
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