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|dc.description.abstract||It is widely known that the problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80's. However, the control of flexible joint manipulators in a bilateral teleoperation scenario, with dynamic gravity compensation, remains an open problem. This work aims at filling this gap by presenting a new controller for bilateral teleoperators composed of a rigid local manipulator and a flexible-joint remote manipulator with dynamic gravity compensation and asymmetric variable time-delays in the communication channel. In order to dynamically compensate the gravity term, in the flexible joint manipulator, a change of coordinates which accounts for the joint and link gravity position drift is used. The rest of the controller is a simple PD scheme. Assuming that the human operator and the environment define passive maps from velocity to force, it is proved that velocities and local and remote position errors are bounded. Additionally, if the human operator and remote environment forces are zero then velocities asymptotically converge to zero and position tracking is established. Some simulations are presented in order to show the performance of the proposed controllers. Zapotitlán 2013 IEEE.|
|dc.title||Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays|
|dc.relation.ispartofjournal||IEEE International Conference on Intelligent Robots and Systems|
|dc.contributor.affiliation||Nuno, E., Department of Computer Science, University of Guadalajara (UdG), Guadalajara, Mexico; Valle, D., Electronics Department, University of Guadalajara (UdG), Guadalajara, Mexico; Sarras, I., IFP, Energies Nouvelles, Department of Control, Signal and Systems, Paris, France; Basanez, L., Institute of Industrial and Control Engineering (IOC), Technical University of Catalonia (UPC), Barcelona, Spain|
|Appears in Collections:||Producción científica UdeG|
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