Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12104/64361
Title: Bilateral teleoperation of cooperative manipulators
Author: Aldana, C.
Nuno, E.
Basanez, L.
Issue Date: 2012
Abstract: 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 operational space dynamical behavior of the complete teleoperation system is derived. Then, under the assumptions that the remote manipulators are rigidly grasping a non-deformable object and that the communications may induce constant time-delays, it is proved that velocities and position-orientation error between the local manipulator end-effector and the object asymptotically converge to zero. Simulations results are included to show the effectiveness of the proposed approach. © 2012 IEEE.
URI: http://hdl.handle.net/20.500.12104/64361
Appears in Collections:Producción científica UdeG (prueba)

Files in This Item:
There are no files associated with this item.


Items in RIUdeG are protected by copyright, with all rights reserved, unless otherwise indicated.