A Feasibility Study of Time-Domain Passivity Approach for Bilateral Teleoperation of Mobile Manipulator

被引：0
作者：
Farkhatdinov, Ildar [1 ]
Ryu, Jee-Hwan [1 ]
Poduraev, Jury [2 ]
机构：
[1] Korea Univ Technol & Educ, Sch Mech Engn, Cheonan, South Korea
[2] Moscow State Univ Technol STANKIN, Dept Robot & Mechatron, Moscow, Russia
来源：
2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4 | 2008年
关键词：
teleoperation; mobile manipulator; rate control mode; time-domain passivity;
D O I：
暂无
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 provides results of feasibility study of time domain passivity approach for bilateral teleoperation of mobile manipulator. Mobile manipulator in this study is a manipulator mounted on mobile platform. We consider bilateral teleoperation system in which human-operator sequentially controls speed of mobile platform (rate mode) or position of manipulator via manipulating haptic master device. Force feedback is transmitted to human-operator based on physical interaction of manipulator end-effector with remote environment. Time-domain passivity has been successfully applied to teleoperation systems in which position of master robot was mapped to position of slave robot. In this paper attempt of application of time-domain passivity control for rate and position control of mobile manipulator is presented. Time-domain passivity application issues are described and analyzed. Experimental results showed possibility of application of time-domain passivity control for rate control in certain range.
引用
收藏
页码：250 / 255
页数：6
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