2015
Higher order sliding mode based impedance control for dual-user bilateral teleoperation under unknown constant time delay
H. Santacruz-Reyes, L.G. Garcia-Valdovinos, H. Jimenez-Hernandez, T. Salgado-Jimenez, L.A. Garcia-Zarco
IROS 2015poster
This paper presents a dual-user teleoperation scheme to perform a collaborative task using n-DOF nonlinear manipulators as masters and slave. Impedance controllers for the manipulators are implemented in order to achieve a desired dynamic behavior depending on the user's necessities. Furthermore, a…