World Automation Congress Proceedings 2012, Article number 6320877 2012 World Automation Congress, WAC 2012; Puerto Vallarta; Mexico; 24 June 2012 through 28 June 2012; Code 94214 Experimental evaluation of two control schemes for cooperative teleoperation (Conference Paper) Bacocco, R.a , Borghesan, G.b , Melchiorri, C.a a DEIS, Univ. of Bologna, Via Risorgimento 2, 40136 Bologna, I, Italy b Mechanical Eng. Dept., K.U. Leuven, Belgium View references (18) Abstract In this paper, an experimental evaluation of two control architectures for cooperative teleoperation systems based on wave variables is presented and discussed. The cooperative control schemes consider two pairs of wave-based teleoperation systems, collaborating to carry out operations in a shared remote environment. The controllers of the system are obtained by means of LQ synthesis techniques. The information exchange occurs only between the corresponding pair, and the slave robots may physically interact between themselves either through a common tool or the manipulated object. Experimental results show the positive performance of the proposed frameworks.
Bacocco, R., Borghesan, G., Melchiorri, C. (2012). Experimental evaluation of two control schemes for cooperative teleoperation.
Experimental evaluation of two control schemes for cooperative teleoperation
BACOCCO, RITA;BORGHESAN, GIANNI;MELCHIORRI, CLAUDIO
2012
Abstract
World Automation Congress Proceedings 2012, Article number 6320877 2012 World Automation Congress, WAC 2012; Puerto Vallarta; Mexico; 24 June 2012 through 28 June 2012; Code 94214 Experimental evaluation of two control schemes for cooperative teleoperation (Conference Paper) Bacocco, R.a , Borghesan, G.b , Melchiorri, C.a a DEIS, Univ. of Bologna, Via Risorgimento 2, 40136 Bologna, I, Italy b Mechanical Eng. Dept., K.U. Leuven, Belgium View references (18) Abstract In this paper, an experimental evaluation of two control architectures for cooperative teleoperation systems based on wave variables is presented and discussed. The cooperative control schemes consider two pairs of wave-based teleoperation systems, collaborating to carry out operations in a shared remote environment. The controllers of the system are obtained by means of LQ synthesis techniques. The information exchange occurs only between the corresponding pair, and the slave robots may physically interact between themselves either through a common tool or the manipulated object. Experimental results show the positive performance of the proposed frameworks.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
