Communities and Collections
Usage
- 73 views
- 87 downloads
Controlled synchronization of nonlinear teleoperation in task-space with time-varying delays
-
- Author(s) / Creator(s)
-
This paper introduces a novel control framework for bilateral teleoperation system with the redundant remote robot to ensure the end-effectors’ position tracking while satisfying a sub-task control such as obstacle avoidance in the presence of the nonlinear dynamics for the manipulators and bounded time-varying delays in the communication channels. The asymptotic stability of the closed-loop dynamics is studied using a Lyapunov-Krasovskii functional under conditions on the controller parameters and the maximum values of time-varying delays. Simulation and experimental results are provided to validate the theoretical findings
-
- Date created
- 2022-11-04
-
- Subjects / Keywords
-
- Type of Item
- Article (Published)