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dc.contributor.author
Chicaiza Claudio, Fernando Alfonso
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Slawiñski, Emanuel
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Salinas, Lucio Rafael
dc.contributor.author
Mut, Vicente Antonio
dc.date.available
2024-06-11T11:41:45Z
dc.date.issued
2024-05
dc.identifier.citation
Chicaiza Claudio, Fernando Alfonso; Slawiñski, Emanuel; Salinas, Lucio Rafael; Mut, Vicente Antonio; Mapping for stable bilateral teleoperation of manipulators considering time delays; Taylor & Francis Ltd; International Journal Of Systems Science; 5-2024; 1-19
dc.identifier.issn
0020-7721
dc.identifier.uri
http://hdl.handle.net/11336/237762
dc.description.abstract
Teleoperation of manipulators has allowed extending the human skills to several areas, where thecommands generated by a human operator on the leader robot are followed by a remote robot.For this purpose, position-position tracking requires a mapping given the mismatch between robotworkspaces. This paper compares a pair of functions for mapping the haptic device commands tohandle a remote robot, considering non-identical workspaces and a classic P+d control scheme. Aspart of the theoretical analysis, a Lyapunov-Krasovskii-based stability analysis is developed in steps, allowing us for determining the boundedness of velocities and coordination errors. Subsequently, the performance of the teleoperation system is compared using two mapping functions. To achieve a fair comparison of results, a test protocol is developed, where different levels of haptic device damping, time delays, and workspace scales are used to evaluate the time to complete the task and the average coordination errors. Based on the results, the mapping function influences the calculation of force feedback, stability of the system, and performance metrics. During a pick-and-place task, a reduction in coordination error is observed when the linear function is chosen, while the time to complete the task is lower when a non-linear function is considered.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Taylor & Francis Ltd
dc.rights
info:eu-repo/semantics/restrictedAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
Teleoperation of manipulators
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reference mapping
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time delay
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force feedback;
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Control Automático y Robótica
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Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
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INGENIERÍAS Y TECNOLOGÍAS
dc.title
Mapping for stable bilateral teleoperation of manipulators considering time delays
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2024-06-11T10:50:25Z
dc.journal.pagination
1-19
dc.journal.pais
Reino Unido
dc.journal.ciudad
Londres
dc.description.fil
Fil: Chicaiza Claudio, Fernando Alfonso. 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: 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: Salinas, Lucio Rafael. 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
International Journal Of Systems Science
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://www.tandfonline.com/doi/full/10.1080/00207721.2024.2343737
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1080/00207721.2024.2343737
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