Position Tracking for Non-linear Teleoperators with Variable Time Delay

Author:

Nuño Emmanuel1,Basañez Luis1,Ortega Romeo2,Spong Mark W.3

Affiliation:

1. Institute of Industrial and Control Engineering, Technical University of Catalonia, Av. Diagonal 647, 08028 Barcelona, Spain,

2. Laboratoire des Signaux et Systèmes, CNRS-SUPÉLEC, Plateau de Moulon, 91190 Gif-sur-Yvette, France,

3. Erik Jonsson School of Engineering and Computer Science, University of Texas at Dallas, 800 West Campbell Road, Richardson, TX 75080-3021, USA,

Abstract

In this paper the problem of position tracking in the presence of variable time delay is studied. It is proved that simple P-like and PD-like controllers can stabilize the teleoperator under variable time delays and, moreover, they provide position tracking. Then, a controller based on the scattering transformation that also provides position tracking is proposed. In this paper we present the conditions under which the velocities and position error of the non-linear teleoperator, for the three controllers, are bounded, and if the human does not move the local manipulator and the remote manipulator does not interact with the environment, then it is proved that velocities and position error converge to zero. Simulations and real experiments, using the Internet from Urbana-Champaign (USA) to Barcelona (Spain), validate the proposed schemes.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

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