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dc.contributor.author
Slawiñski, Emanuel
dc.contributor.author
Moya González, Viviana Isabel
dc.contributor.author
Santiago, Diego Daniel
dc.contributor.author
Mut, Vicente Antonio
dc.date.available
2021-02-04T17:18:16Z
dc.date.issued
2019-10
dc.identifier.citation
Slawiñski, Emanuel; Moya González, Viviana Isabel; Santiago, Diego Daniel; Mut, Vicente Antonio; Force and Position-Velocity Coordination for Delayed Bilateral Teleoperation of a Mobile Robot; Cambridge University Press; Robotica; 37; 10; 10-2019; 1768-1784
dc.identifier.issn
0263-5747
dc.identifier.uri
http://hdl.handle.net/11336/124811
dc.description.abstract
This document proposes a control scheme for delayed bilateral teleoperation of a mobile robot, which it is sought to achieve a coordination of the master device position with the slave mobile robot velocity, and at the same time synchronize the force exerted by the operator with force applied by the environment over the mobile robot. This approach allows the operator to improve the sensitive perception of the remote environment in which the robot navigates while he generates commands to control the mobile robot motion. In this paper, variable and asymmetrical communication time delays are taken into account, as well as a non-passive model of the human operator, for which a novel model is proposed that has a more general structure than the typical ones used to date in the teleoperation field. Furthermore, based on the theoretical analysis presented, the state of convergence in the stationary response is obtained. In addition, an experimental performance evaluation is carried out, where the position-velocity error, force error and the time to complete the task are evaluated. In the tests, a human operator commands a remote mobile robot to push objects of different weight while he perceives the weight of each object through the force feedback system. As an outcome, the theoretical and practical results obtained allow concluding that a satisfactory trade-off between stability and transparency is reached.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Cambridge University Press
dc.rights
info:eu-repo/semantics/restrictedAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
BILATERAL TELEOPERATION
dc.subject
FORCE-VELOCITY COORDINATION
dc.subject
MOBILE ROBOT
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TIME DELAY
dc.subject.classification
Control Automático y Robótica
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Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
dc.title
Force and Position-Velocity Coordination for Delayed Bilateral Teleoperation of a Mobile Robot
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2020-11-19T21:49:50Z
dc.journal.volume
37
dc.journal.number
10
dc.journal.pagination
1768-1784
dc.journal.pais
Reino Unido
dc.journal.ciudad
Cambridge
dc.description.fil
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
dc.description.fil
Fil: Moya González, Viviana Isabel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
dc.description.fil
Fil: Santiago, Diego Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
dc.description.fil
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
dc.journal.title
Robotica
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1017/S0263574719000249
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://www.cambridge.org/core/journals/robotica/article/abs/force-and-positionvelocity-coordination-for-delayed-bilateral-teleoperation-of-a-mobile-robot/F167C21094B6457307716720B9242B59
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