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dc.contributor.authorNuno, E.
dc.contributor.authorBasanez, L.
dc.contributor.authorObregon-Pulido, G.
dc.contributor.authorSolis-Perales, G.
dc.description.abstractThis paper presents two controllers for a nonlinear bilateral teleoperation system that do not rely on velocity measurements. Under the reasonable assumptions that the human operator and the environment define passive maps from force to velocity, both controllers can ensure boundedness of velocities and position error. Moreover, if the human and environment forces are bounded, one of the controllers ensure velocity synchronization and the other velocity convergence to zero. Simulations, comparing the performance on free motion and interacting with a stiff wall, support the performance of the reported schemes. © 2011 IFAC.
dc.titleBilateral teleoperation control without velocity measurements
dc.typeConference Paper
dc.relation.ispartofjournalIFAC Proceedings Volumes (IFAC-PapersOnline)
dc.relation.ispartofissuePART 1
dc.subject.keywordBilateral teleoperation; Euler-Lagrange systems; Lyapunov stability; Robot control
dc.contributor.affiliationNuño, E., Department of Computer Science, CUCEI, University of Guadalajara, Guadalajara, Mexico; Basañez, L., Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain; Obregón-Pulido, G., Electronics Department, CUCEI, University of Guadalajara, Guadalajara, Mexico; Solís-Perales, G., Electronics Department, CUCEI, University of Guadalajara, Guadalajara, Mexico
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