Esquema Tipo-PD más Impedancia Modificado para Teleoperación Bilateral de un Robot Móvil considerando Retardos de Tiempo
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Resumen
Resumen: Este trabajo propone un esquema de control modificado, basado en una estructura tipo-PD másimpedancia, aplicado a la teleoperación bilateral de un robot móvil considerando retardos de tiempo. El esquema esdiseñado para obtener una relación de compromiso entre estabilidad y transparencia, analizando ambas característicassimultáneamente. El análisis correspondiente toma en cuenta las dinámicas del maestro y del robot móvil tanto comoretardos variables y asimétricos. Finalmente, se muestran los resultados de pruebas de teleoperación bilateralrealizados incluyendo el controlador propuesto de manera de verificar el resultado teórico alcanzado.
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Abstract: This paper proposes a modified PD-like plus impedance controller for delayed bilateral teleoperation of amobile robot. The scheme is designed to get a trade-off between transparency and stability, analyzing both featuressimultaneously. The corresponding analysis takes into account the dynamics of the master and mobile robot as wellas asymmetric time-varying delays. Finally, experimental results of a bilateral teleoperation including the proposedcontrol scheme are shown in order to verify the achieved theoretical result.
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