José F. Postigo

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The stability analysis of a two-degree-of freedom teleoperation system, considering the remote station as a non-linear system, is presented. The non-linearity 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 structure for bilateral teleoperation of mobile robots. The proposed control structure includes a time-delay compensation placed on both the local and remote sites of the teleoperation system. Teleoperation experiments through a simulated and real (using Internet) communication channel are presented to illustrate the(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 high-quality forces (realistic) are to(More)