Teleoperación Bilateral de un Robot Móvil Tipo Uniciclo

Resumen: En este trabajo se considera la teleoperación de un robot móvil tipo uniciclo mediante un mecanismo maestro de dos grados de libertad. Particularmente se presenta una estrategia de control que resuelve el problema de condiciones iniciales distintas de posición. Con el fin de lograr la sincronización, el diseño considera tanto el modelo cinemático de postura del móvil como los modelos dinámicos de los mecanismos. Simulaciones numéricas se proporcionan para ilustrar el desempeño del sistema.

¿Cómo citar?

Carlos Palafox, Ollin Peñaloza & Jaime Alvarez. Teleoperación Bilateral de un Robot Móvil Tipo Uniciclo. Memorias del Congreso Nacional de Control Automático, pp. 341-346, 2018.

Palabras clave

Teleoperación, robot móvil, pasividad

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