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Passivity-Based adaptive bilateral teleoperation control for uncertain manipulators without jerk measurements
In this work, we consider the bilateral teleoperation problem of cooperative robotic systems in a Single-Master Multi-Slave (SM/MS) configuration, which is able to perform load transportation tasks in the presence of parametric uncertainty in the robot kinematic and dynamic models. The teleoperation...
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| Autor principal: | |
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| Formato: | Tese |
| Idioma: | Inglês |
| Publicado em: |
Universidade Federal do Rio de Janeiro
2017-06
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| Assuntos: | |
| Acesso em linha: | http://hdl.handle.net/11422/6488 |
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