Mostrar el registro sencillo del ítem

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  
dc.subject
FORCE-VELOCITY COORDINATION  
dc.subject
MOBILE ROBOT  
dc.subject
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