Position Tracking for Non-linear Teleoperators with Variable Time Delay

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 scatterin...

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Veröffentlicht in:	The International journal of robotics research 2009-07, Vol.28 (7), p.895-910
Hauptverfasser:	Nuño, Emmanuel, Basañez, Luis, Ortega, Romeo, Spong, Mark W.
Format:	Artikel
Sprache:	eng
Schlagworte:	Manipulation Position tracking Robotics Simulation Studies Time & motion studies
Online-Zugang:	Volltext
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