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dc.contributor.author
Slawinski, Emanuel
dc.contributor.author
Santiago, Diego
dc.contributor.author
Mut, Vicente Antonio
dc.date.available
2021-10-12T14:55:32Z
dc.date.issued
2020-10
dc.identifier.citation
Slawinski, Emanuel; Santiago, Diego; Mut, Vicente Antonio; Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 18; 10; 10-2020; 1777-1784
dc.identifier.issn
1548-0992
dc.identifier.uri
http://hdl.handle.net/11336/143279
dc.description.abstract
This paper proposes a P+d like control scheme and calibration guidelines addressed to achieve stable dual coordination of force and motion in a bilateral teleoperation system of a mobile robot considering time-varying delays. Different from the state of the art, the proposed scheme achieves a dual coordination combining a relation of linear and nonlinear damping and force feedback gain depending on the human operator parameters and time delays. As a theoretical result, we get that the injected linear damping strongly depends on the time delay, the nonlinear damping compensates the Coriolis forces, while the convergence state depends on the human operator and environment force, but it is independent of the time delay. Finally, a robot teleoperation experiment is carried out to evaluate the performance of force and motion errors obtained in practice.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Institute of Electrical and Electronics Engineers
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 FEEDBACK
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FORCE-VELOCITY COORDINATION
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MOBILE ROBOT
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TIME DELAY
dc.subject.classification
Control Automático y Robótica
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
dc.title
Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2021-09-07T13:46:42Z
dc.journal.volume
18
dc.journal.number
10
dc.journal.pagination
1777-1784
dc.journal.pais
Estados Unidos
dc.description.fil
Fil: Slawinski, 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: Santiago, Diego. 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
IEEE Latin America Transactions
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1109/TLA.2020.9387669
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/eeexplore.ieee.org/document/9387669
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://latamt.ieeer9.org/index.php/transactions/article/view/3576
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