ISBN
Formato digital
979-13-87837-54-9
Fecha de publicación
06-10-2025
Licencia
D. R. © Copyright 2025. Alma Y. Alanis, Jorge Galvez, Omar Avalos, Eduardo Méndez-Palos, Jorge D. Rios, Adriana Peña Perez-Negron & Gabriel Martínez Soltero
Todos los contenidos de esta obra se comparten bajo la licencia Creative Commons Atri-bución/Reconocimiento-NoComercial-CompartirIgual 4.0 Internacional (CC BY-NC-SA 4.0). Esto implica que no está autorizado el uso comercial de la obra original ni de las eventuales obras derivadas, las cuales deberán distribuirse bajo la misma licencia que rige la obra original. No obstante, se permite a terceros compartir el contenido siempre y cuando se reconozca debidamente la autoría y la publicación original en esta editorial.
Lázaro Fabricio Torres Orozco
Universidad de Guadalajara
0009-0005-5014-7814
Octavio G. Zepeda
Universidad de Guadalajara
0009-0005-8717-1244
Carlos I. Aldana
Universidad de Guadalajara
0000-0001-8778-3586
Emmanuel Nuno
Universidad de Guadalajara
0000-0003-2058-4579
Emmanuel Cruz Zavala
Universidad de Guadalajara
0000-0002-6792-2398
Acerca de
A bilateral teleoperation system comprises a network of two manipulators, with the primary objective of achieving position synchronization between them. This paper proposes a novel continuous-time finite-time (FT) controller to solve the problem of bilateral teleoperation for a class of fully-actuated Euler-Lagrange (EL) systems in joint space. For this, the control law is designed to ensure global asymptotic stability (GAS) and then, finite-time stability (FTS) through a homogeneous ap- proximation of negative degree. To handle the external forces that arise from environmental interactions, it is assumed that these forces define passive velocity-to-force maps, enabling the proof of bounded position errors and velocities. The resulting controller is an easy-to-implement proportional plus damping injection (P+d) scheme with a gravity cancellation term. Experimental results with a teleoperation system composed of two robotic manipulators with six Degrees-of-Freedom (DoF) are presented to validate the performance of the proposed scheme.
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