DocumentCode :
2414832
Title :
Bilateral teleoperation of cooperative manipulators
Author :
Aldana, Carlos ; Nuño, Emmanuel ; Basañez, Luis
Author_Institution :
Inst. of Ind. & Control Eng. (IOC), Tech. Univ. of Catalonia (UPC), Barcelona, Spain
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
4274
Lastpage :
4279
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.
Keywords :
adaptive control; delays; end effectors; multi-robot systems; telerobotics; adaptive controller; bilateral teleoperation; cooperative manipulators; end effector; multiple cooperative remote manipulators; nondeformable object grasping; nonlinear operational space dynamical behavior; single local manipulator; teleoperation system; time delays; Cooperative systems; Grasping; Humans; Manipulator dynamics; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6225030
Filename :
6225030
Link To Document :
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