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Position tracking in delayed bilateral teleoperators without velocity measurements

2015; Wiley; Volume: 26; Issue: 7 Linguagem: Inglês

10.1002/rnc.3358

1099-1239

Ioannis Sarras, Emmanuel Nuño, Luis Basañez, Michel Kinnaert,

Soft Robotics and Applications

International Journal of Robust and Nonlinear ControlVolume 26, Issue 7 p. 1437-1455 Research Article Position tracking in delayed bilateral teleoperators without velocity measurements Ioannis Sarras, Ioannis Sarras Automatic Control Department, SUPELEC, Gif-sur-Yvette, France Mines ParisTech, PSL Research University, Paris, France.Search for more papers by this authorEmmanuel Nuño, Corresponding Author Emmanuel Nuño Department of Computer Science, University of Guadalajara, Guadalajara, Mexico Correspondence to: Emmanuel Nuño, 1500 Revolución Av., 'M' Building, 44830, Guadalajara, México. E-mail: emmanuel.nuno@cucei.udg.mxSearch for more papers by this authorLuis Basañez, Luis Basañez Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, SpainSearch for more papers by this authorMichel Kinnaert, Michel Kinnaert Control Engineering and Systems Analysis Department, Université Libre de Bruxelles, Brussels, BelgiumSearch for more papers by this author Ioannis Sarras, Ioannis Sarras Automatic Control Department, SUPELEC, Gif-sur-Yvette, France Mines ParisTech, PSL Research University, Paris, France.Search for more papers by this authorEmmanuel Nuño, Corresponding Author Emmanuel Nuño Department of Computer Science, University of Guadalajara, Guadalajara, Mexico Correspondence to: Emmanuel Nuño, 1500 Revolución Av., 'M' Building, 44830, Guadalajara, México. E-mail: emmanuel.nuno@cucei.udg.mxSearch for more papers by this authorLuis Basañez, Luis Basañez Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, SpainSearch for more papers by this authorMichel Kinnaert, Michel Kinnaert Control Engineering and Systems Analysis Department, Université Libre de Bruxelles, Brussels, BelgiumSearch for more papers by this author First published: 13 May 2015 https://doi.org/10.1002/rnc.3358Citations: 14 Read the full textAboutPDF ToolsRequest permissionExport citationAdd to favoritesTrack citation ShareShare Give accessShare full text accessShare full-text accessPlease review our Terms and Conditions of Use and check box below to share full-text version of article.I have read and accept the Wiley Online Library Terms and Conditions of UseShareable LinkUse the link below to share a full-text version of this article with your friends and colleagues. Learn more.Copy URL Share a linkShare onFacebookTwitterLinked InRedditWechat Summary This work considers the control of nonlinear bilateral teleoperators with variable time delays without the need of velocity measurements. The recently proposed Immersion and Invariance observer is used to obtain an exponentially convergent estimate of the unmeasured velocities. Under the classical assumption that the human operator and the environment define passive, velocity to force, maps, it is proved that with this observer and a Proportional plus damping controller, velocities and position error are globally bounded. Finally, in the case that the human operator and the environment do not exert forces on the local and remote manipulators, respectively, global asymptotic convergence of velocities and of position error to zero is achieved. The theoretical results are sustained with simulations using a couple of two degrees-of-freedom nonlinear manipulators. Copyright © 2015 John Wiley & Sons, Ltd. Citing Literature Volume26, Issue710 May 2016Pages 1437-1455 RelatedInformation