STABLE DELAYED BILATERAL TELEOPERATION OF MOBILE MANIPULATORS

被引：15

作者：

Santiago, Diego D. ^{[1
]}

Slawinski, Emanuel ^{[1
]}

Mut, Vicente A. ^{[1
]}

机构：

[1] Univ Nacl San Juan, Inst Automat INAUT, Ave Libertador San Martin 1109 Oeste,J5400ARL, San Juan, Argentina

来源：

ASIAN JOURNAL OF CONTROL | 2017年 / 19卷 / 03期

关键词：

Nonlinear control; bilateral teleoperation; delayed system; operational space control; null space control; mobile manipulator; SYSTEMS; STABILITY;

D O I：

10.1002/asjc.1461

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a control scheme for a stable teleoperation of non-holonomic mobile manipulator robots. This configuration presents high-coupled dynamics and motion redundancy. The problem approached in this work is the teleoperation of the end effector velocity of the Mobile Manipulator, while system redundancy is used to achieve secondary control objectives. We considered variable asymmetric time delays as well as non-passive models of operator and environment. From this study, it is possible to infer the control parameters, depending on the time delay, in order to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through simulations of human-in-the-loop internet teleoperation.

引用

页码：1140 / 1152

页数：13

共 26 条

[1]

Andaluz V. H., 2011, 2011 9th IEEE International Conference on Control and Automation (ICCA 2011), P778, DOI 10.1109/ICCA.2011.6138029

[2] BILATERAL CONTROL OF TELEOPERATORS WITH TIME-DELAY [J].