Semi-Autonomous Robot Teleoperation with Obstacle Avoidance via Model Predictive Control

被引：0
作者：
Rubagotti, Matteo [1 ]
Taunyazov, Tasbolat [2 ]
Omarali, Bukeikhan [3 ]
Shintemirov, Almas [1 ]
机构：
[1] Nazarbayev Univ, Dept Robot & Mechatron, Astana, Kazakhstan
[2] Natl Univ Singapore, Dept Comp Sci, Singapore, Singapore
[3] Queen Mary Univ London, Sch Elect Engn & Comp Sci, London, England
来源：
ROBOTICS: SCIENCE AND SYSTEMS XV | 2019年
关键词：
MANIPULATORS;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper(1) proposes a model predictive control approach for semi-autonomous teleoperation of robot manipulators: the focus is on avoiding obstacles with the whole robot frame, while exploiting predictions of the operator's motion. The hand pose of the human operator provides the reference for the end effector, and the robot motion is continuously replanned in real time, satisfying several constraints. An experimental case study is described regarding the design and testing of the described framework on a UR5 manipulator: the experimental results confirm the suitability of the proposed method for semi-autonomous teleoperation, both in terms of performance (tracking capability and constraint satisfaction) and computational complexity (the control law is calculated well within the sampling interval).
引用
收藏
页数：8
相关论文
共 34 条
  • [1] [Anonymous], 2015, tech. rep.
  • [2] Constrained model predictive control for mobile robotic manipulators
    Avanzini, Giovanni Buizza
    Zanchettin, Andrea Maria
    Rocco, Paolo
    [J]. ROBOTICA, 2018, 36 (01) : 19 - 38
  • [3] A survey of augmented reality
    [J]. 1600, Now Publishers Inc (08): : 2 - 3
  • [4] Boessenkool H, 2013, IEEE T HAPTICS, V6, P2, DOI [10.1109/ToH.2012.22, 10.1109/TOH.2012.22]
  • [5] Less Is More: Mixed-Initiative Model-Predictive Control With Human Inputs
    Chipalkatty, Rahul
    Droge, Greg
    Egerstedt, Magnus B.
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2013, 29 (03) : 695 - 703
  • [6] Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot
    Faulwasser, Timm
    Weber, Tobias
    Zometa, Pablo
    Findeisen, Rolf
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2017, 25 (04) : 1505 - 1511
  • [7] qpOASES: a parametric active-set algorithm for quadratic programming
    Ferreau, Hans Joachim
    Kirches, Christian
    Potschka, Andreas
    Bock, Hans Georg
    Diehl, Moritz
    [J]. MATHEMATICAL PROGRAMMING COMPUTATION, 2014, 6 (04) : 327 - 363
  • [8] A review of space robotics technologies for on-orbit servicing
    Flores-Abad, Angel
    Ma, Ou
    Pham, Khanh
    Ulrich, Steve
    [J]. PROGRESS IN AEROSPACE SCIENCES, 2014, 68 : 1 - 26
  • [9] Bilateral teleoperation: An historical survey
    Hokayem, Peter F.
    Spong, Mark W.
    [J]. AUTOMATICA, 2006, 42 (12) : 2035 - 2057
  • [10] ACADO toolkit-An open-source framework for automatic control and dynamic optimization
    Houska, Boris
    Ferreau, Hans Joachim
    Diehl, Moritz
    [J]. OPTIMAL CONTROL APPLICATIONS & METHODS, 2011, 32 (03) : 298 - 312
1234