Diseño de un Controlador Híbrido en Ambientes Virtuales para Teleoperación robótica
[EN] This article presents the design and implementation of an hybrid controller for a robotic teleoperation system. The low-level control structure is designed to control both, the position of the remote manipulator as well as the interaction force. In the local station the dynamics of the human op...
| Autores: | , , , , |
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| Tipo de documento: | artigo |
| Data de publicação: | 2010 |
| País: | España |
| Recursos: | Universitat Politècnica de València (UPV) |
| Repositório: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | espanhol |
| OAI Identifier: | oai:riunet.upv.es:10251/144658 |
| Acesso em linha: | https://riunet.upv.es/handle/10251/144658 |
| Access Level: | Acceso aberto |
| Palavra-chave: | Telerobotic Robot Control Event Discrete System Simulation Control System Design Telerrobotica Control de Robots Sistemas de Eventos Discretos Simulación Diseño de Sistemas de Control |
| Resumo: | [EN] This article presents the design and implementation of an hybrid controller for a robotic teleoperation system. The low-level control structure is designed to control both, the position of the remote manipulator as well as the interaction force. In the local station the dynamics of the human operator and together with a model of a remote site included the environment. The supervisor controller is designed using the theory of hybrid systems and an automata was used for modeling the discrete event part. The theoretical results are validated through a simulation platform of a commercial robot. |
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