Bilateral haptic guided Robot teleoperation via packet switched networks using wave variables with impedance adaptation

This paper presents the use of haptic devices in teleoperation systems with motion restrictions during robot teleoperation in order to provide the operator with increased awareness and better feeling of immersion, hence, improving his ability to perform complex tasks. The use of wave variables in the proposed system renders passive the communication channel, and moreover the new packet switched protocols like Internet Protocol version 6 (IPv6) with high Quality of Service (QoS), provides differentiated services for control signals.Peer Reviewe

Haptic guidance with force feedback to assist teleoperation systems via high speed networks

The employment of haptic devices in teleoperation systems and the use of motion restrictions during robot teleoperation provide the operator with increased awareness and can considerably improve the feeling of immersion and moreover his ability to perform complex tasks. In the last decade Internet has become one of the major sources of information. It already connects millions of computers and more than a billion people. Its spectacular growth have lead to the creation of new high speed networks with new capabilities. In the work described in this paper those networks that use recent-creation packet switched protocols like Internet Protocol version 6 (IPv6) with high Quality of Service (QoS) will serve as the communication channel for the teleoperation system.Peer Reviewe

Control in the operational space of bilateral teleoperators with time-delays and without velocity measurements¿

This paper proposes a control scheme in the operational space for bilateral teleoperation systems composed of heterogeneous robots (kinematically and dynamically different) without velocity sensors and considering variable time-delays in the interconnection. The proposed control scheme use a second order dynamical controller that back-propagates damping to the local and the remote manipulators. Under the assumptions that the human operator and the environment define passive maps from force to velocity, it is proved that velocities and pose (position and orientation) errors between the local and the remote manipulators are bounded. Moreover, in the case that the human and the environment forces are zero, the velocities and pose errors converge asymptotically to zero. The proposed approach employs, the singularity-free, unit-quaternions to represent the orientation of the end-effectors. The performance of the proposed controller is illustrated via simulations with a teleoperation system composed of robots with 3-DoF and 7-DoF.Peer ReviewedPostprint (published version

Passive bilateral teleoperation framework for assisted robotic tasks

This paper addresses the problem of stable bilateral teleoperation, through a time-delayed communication channel, for a n-DOF system without position drift. The classical wave variables-based scheme encodes velocity and force whilst the proposed scheme encodes position and integral of force. The resulting passive communication scheme is used in an extended teleoperation framework, in which the human operator can define geometrical motion restrictions in order to increase his awareness and his feeling of immersion, hence improving his ability to perform complex tasks. The framework also provides the operator with video feedback and 3D rendering of the remote scene.Peer Reviewe

Sección Especial: "Aportaciones de Investigadores en México al Control Automático"

Ortega, R.; Nuño, E. (2022). Sección Especial: "Aportaciones de Investigadores en México al Control Automático". Revista Iberoamericana de Automática e Informática industrial. 19(4):380-380. http://hdl.handle.net/10251/187023OJS38038019

Modelling and control for bounded synchronization in multi-terminal VSC-HVDC transmission networks

© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.The extension and size of the power grid is expected to increase in the near future. Managing such a system presents challenging control problems that, so far, have been approached with classical control techniques. However, large scale systems of interconnected nodes fall within the framework of the emerging field of complex networks. This paper models multi-terminal VSC-HVDC systems as a complex dynamical network, and derives conditions ensuring bounded synchronization of its trajectories for a family of controllers. The obtained results are validated via numerical simulations.Postprint (author's final draft

Teleoperación [de robots]: técnicas, aplicaciones, entorno sensorial y teleoperación inteligente

En este trabajo centraremos la atención en los sistemas robóticos teleoperados, especialmente analizaremos los sistemas teleoperados desde internet, veremos una clasificación de las metodologías de teleoperación, los diferentes sistemas de control y daremos una visión del estado del arte en este ámbito de conocimiento

A framework for robotized teleoperated tasks

"Premio al mejor artículo presentado en ROBOT 2011" atorgat pel Grupo de Robótica, Visión y Control de la Universidad de Sevilla, la Universidad Pablo Olavide i el Centro Avanzado de Tecnologías Aeroespaciales.Teleoperation systems allow the extension of the human operator’s sensing and manipulative capability into a remote environment to perform tasks at a distance, but the time-delays in the communications affect the stability and transparency of such systems. This work presents a teleoperation framework in which some novel tools, such as nonlinear controllers, relational positioning techniques, haptic guiding and augmented reality, are used to increase the sensation of immersion of the human operator in the remote site. Experimental evidence supports the advantages of the proposed framework.Award-winningPostprint (published version