Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12104/64361
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dc.contributor.authorAldana, C.
dc.contributor.authorNuno, E.
dc.contributor.authorBasanez, L.
dc.date.accessioned2015-11-19T18:49:19Z-
dc.date.available2015-11-19T18:49:19Z-
dc.date.issued2012
dc.identifier.urihttp://hdl.handle.net/20.500.12104/64361-
dc.description.abstractThis 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.
dc.titleBilateral teleoperation of cooperative manipulators
dc.typeConference Paper
dc.identifier.doi10.1109/ICRA.2012.6225030
dc.relation.ispartofjournalProceedings - IEEE International Conference on Robotics and Automation
dc.relation.ispartofpage4274
dc.relation.ispartofpage4279
dc.contributor.affiliationAldana, C., Institute of Industrial and Control Engineering (IOC), Technical University of Catalonia (UPC), Barcelona 08028, Spain; Nuño, E., Department of Computer Science (DCC), University of Guadalajara (UdG), Guadalajara 44430, Mexico; Basañez, L., Institute of Industrial and Control Engineering (IOC), Technical University of Catalonia (UPC), Barcelona 08028, Spain
dc.relation.isReferencedByScopus
dc.identifier.urlhttp://www.scopus.com/inward/record.url?eid=2-s2.0-84864486585&partnerID=40&md5=684517aa06fb205b4db0ed80cad9d5e9
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