| Autor: |
Aldana, Carlos, Nuno, Emmanuel, Basanez, Luis |
| Zdroj: |
2012 IEEE International Conference on Robotics & Automation; 1/ 1/2012, p4274-4279, 6p |
| Abstrakt: |
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. [ABSTRACT FROM PUBLISHER] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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