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. ; Postprint (author's final draft)


    Access

    Download


    Export, share and cite



    Observer design for the synchronization of bilateral delayed teleoperators

    Arteaga–Pérez, Marco A. / Morales, Marisol / López, Mauro et al. | British Library Online Contents | 2018


    Control in the operational space of bilateral teleoperators with time-delays and without velocity measurements¿

    Aldana, Carlos I. / Cruz, Emmanuel / Nuño Ortega, Emmanuel et al. | BASE | 2018

    Free access

    Bilateral Control of Different Order Teleoperators

    Azorín, José M. / Aracil, Rafael / Sabater, José M. et al. | Springer Verlag | 2006


    Teleoperators

    Bejczy, A. D. | NTRS | 1995


    Delayed Force Feedback in the Digital Implementation of Space Teleoperators

    Leung, G. M. H. / Francis, B. A. / Canadian Aeronautics and Space Institute | British Library Conference Proceedings | 1992