José F. Postigo

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This paper proposes a stable control scheme for teleoperation of mobile robots with visual feedback in presence of time-varying delay. The proposed control scheme is based on using a model of the human operator to combine (on the remote site) the velocity command generated by the human operator in a delayed time instant, the received information (which(More)
The stability analysis of a two-degree-of freedom teleoperation system, considering the remote station as a non-linear system, is presented. The nonlinearity arises in the remote robot’s model. Force and position data are backfed from the local to the remote station. The time delay between both stations is fixed and known. A model of the human operator is(More)
This paper proposes a stable control scheme for bilateral teleoperation of mobile robots in presence of obstacles and time-varying delay. The proposed control scheme is composed by a velocity controller on board the mobile robot and a time-delay compensation placed on both the local and remote sites of the teleoperation system. Finally, experiments on a(More)
In this paper a time delay compensation control structure for a robot teleoperation system is presented. The structure design was made considering 1.9-seconds time delay in the communication between the remote and local stations. The objective is to control both the remote manipulator’s position and force. Force and position signals are fedback to the local(More)
The integration of force feedback with a complete real-time virtual environment system shows some more difficult problems than those found in building a typical force feedback system. Particularly, bulky computations for graphics or simulation require decoupling the haptic servo-loop from the main application loop if highquality forces (realistic) are to be(More)
Assembly automation is a classical field and well known since the late seventies. Disassembly automation is quite new and comes up approximately 15 years ago. In this paper some ideas and recent research results dealing with "intelligent" automation of assembly and disassembly are presented. Assembly automation is a classical application field of robotics(More)