{"id":{"repo_id":"brazil-uerj","oai_identifier":"oai:pantheon.ufrj.br:11422/6488"},"canonical_url":"https://search.dev.ndltd.org/etd/brazil-uerj/oai:pantheon.ufrj.br:11422/6488","repository":{"repo_id":"brazil-uerj","name":"Brazil UERJ","base_url":"https://pantheon.ufrj.br/oai/request"},"display":{"title":"Passivity-Based adaptive bilateral teleoperation control for uncertain manipulators without jerk measurements","abstract":"In this work, we consider the bilateral teleoperation problem of cooperative robotic systems in a Single-Master Multi-Slave (SM/MS) configuration, which is able to perform load transportation tasks in the presence of parametric uncertainty in the robot kinematic and dynamic models. The teleoperation architecture is based on the two-layer approach placed in a hierarchical structure, whose top and bottom layers are responsible for ensuring the transparency and stability properties respectively. The load transportation problem is tackled by using the formation control approach wherein the desired translational velocity and interaction force are provided to the master robot by the user, while the object is manipulated with a bounded constant force by the slave robots. Firstly, we develop an adaptive kinematic-based control scheme based on a composite adaptation law to solve the cooperative control problem for robots with uncertain kinematics. Secondly, the dynamic adaptive control for cooperative robots is implemented by means of a cascade control strategy, which does not require the measurement of the time derivative of force (which requires jerk measurements). The combination of the Lyapunov stability theory and the passivity formalism are used to establish the stability and convergence property of the closed-loop control system. Simulations and experimental results illustrate the performance and feasibility of the proposed control scheme.","abstract_html":"In this work, we consider the bilateral teleoperation problem of cooperative robotic systems in a Single-Master Multi-Slave (SM/MS) configuration, which is able to perform load transportation tasks in the presence of parametric uncertainty in the robot kinematic and dynamic models. The teleoperation architecture is based on the two-layer approach placed in a hierarchical structure, whose top and bottom layers are responsible for ensuring the transparency and stability properties respectively. The load transportation problem is tackled by using the formation control approach wherein the desired translational velocity and interaction force are provided to the master robot by the user, while the object is manipulated with a bounded constant force by the slave robots. Firstly, we develop an adaptive kinematic-based control scheme based on a composite adaptation law to solve the cooperative control problem for robots with uncertain kinematics. Secondly, the dynamic adaptive control for cooperative robots is implemented by means of a cascade control strategy, which does not require the measurement of the time derivative of force (which requires jerk measurements). The combination of the Lyapunov stability theory and the passivity formalism are used to establish the stability and convergence property of the closed-loop control system. Simulations and experimental results illustrate the performance and feasibility of the proposed control scheme.","abstract_has_math":false,"creators":["Tomasevich, Ivanko Yannick Yanque"],"institution":"Universidade Federal do Rio de Janeiro","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":["Lizarralde, Fernando Cesar"],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-06","date_published":"2017-06","updated_at":"2026-07-24T01:16:21Z","subjects":["Engenharia elétrica","Controle adaptativo","Manipuladores robóticos"],"languages":["eng"],"rights":["Acesso Aberto"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/11422/6488","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Lizarralde, Fernando Cesar"]},{"key":"dc:creator","label":"Author","values":["Tomasevich, Ivanko Yannick Yanque"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2019-02-14T15:35:56Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2026-05-16T03:04:12Z"]},{"key":"dc:date.issued","label":"Date","values":["2017-06"]},{"key":"dc:publisher","label":"Institution","values":["Universidade Federal do Rio de Janeiro"]},{"key":"dc:publisher.department","label":"Dc Publisher Department","values":["Instituto Alberto Luiz Coimbra de Pós-Graduação e Pesquisa de Engenharia"]},{"key":"dc:type","label":"Dc Type","values":["Tese"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engenharia elétrica","Controle adaptativo","Manipuladores robóticos"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Acesso Aberto"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/11422/6488"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["In this work, we consider the bilateral teleoperation problem of cooperative robotic systems in a Single-Master Multi-Slave (SM/MS) configuration, which is able to perform load transportation tasks in the presence of parametric uncertainty in the robot kinematic and dynamic models. The teleoperation architecture is based on the two-layer approach placed in a hierarchical structure, whose top and bottom layers are responsible for ensuring the transparency and stability properties respectively. The load transportation problem is tackled by using the formation control approach wherein the desired translational velocity and interaction force are provided to the master robot by the user, while the object is manipulated with a bounded constant force by the slave robots. Firstly, we develop an adaptive kinematic-based control scheme based on a composite adaptation law to solve the cooperative control problem for robots with uncertain kinematics. Secondly, the dynamic adaptive control for cooperative robots is implemented by means of a cascade control strategy, which does not require the measurement of the time derivative of force (which requires jerk measurements). The combination of the Lyapunov stability theory and the passivity formalism are used to establish the stability and convergence property of the closed-loop control system. Simulations and experimental results illustrate the performance and feasibility of the proposed control scheme."]},{"key":"dc:title","label":"Title","values":["Passivity-Based adaptive bilateral teleoperation control for uncertain manipulators without jerk measurements"]}]}],"canonical_facts":{"dc:contributor.advisor":["Lizarralde, Fernando Cesar"],"dc:creator":["Tomasevich, Ivanko Yannick Yanque"],"dc:date.accessioned":["2019-02-14T15:35:56Z"],"dc:date.available":["2026-05-16T03:04:12Z"],"dc:date.issued":["2017-06"],"dc:description.abstract":["In this work, we consider the bilateral teleoperation problem of cooperative robotic systems in a Single-Master Multi-Slave (SM/MS) configuration, which is able to perform load transportation tasks in the presence of parametric uncertainty in the robot kinematic and dynamic models. The teleoperation architecture is based on the two-layer approach placed in a hierarchical structure, whose top and bottom layers are responsible for ensuring the transparency and stability properties respectively. The load transportation problem is tackled by using the formation control approach wherein the desired translational velocity and interaction force are provided to the master robot by the user, while the object is manipulated with a bounded constant force by the slave robots. Firstly, we develop an adaptive kinematic-based control scheme based on a composite adaptation law to solve the cooperative control problem for robots with uncertain kinematics. Secondly, the dynamic adaptive control for cooperative robots is implemented by means of a cascade control strategy, which does not require the measurement of the time derivative of force (which requires jerk measurements). The combination of the Lyapunov stability theory and the passivity formalism are used to establish the stability and convergence property of the closed-loop control system. Simulations and experimental results illustrate the performance and feasibility of the proposed control scheme."],"dc:identifier.uri":["http://hdl.handle.net/11422/6488"],"dc:language":["eng"],"dc:publisher":["Universidade Federal do Rio de Janeiro"],"dc:publisher.department":["Instituto Alberto Luiz Coimbra de Pós-Graduação e Pesquisa de Engenharia"],"dc:rights":["Acesso Aberto"],"dc:subject":["Engenharia elétrica","Controle adaptativo","Manipuladores robóticos"],"dc:title":["Passivity-Based adaptive bilateral teleoperation control for uncertain manipulators without jerk measurements"],"dc:type":["Tese"]},"updated_at":"2026-07-24T01:16:21Z"}