Passive teleoperation of mobile robot with input-output linearization and dynamic extension

被引：0

作者：

Falcon, Pablo ^{[1
]}

Barreiro, Antonio ^{[1
]}

Cacho, Miguel D. ^{[1
]}

Delgado, Emma ^{[1
]}

机构：

[1] Univ Vigo, Dept Syst Engn & Automat, Vigo, Spain

来源：

2014 IEEE 4TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2014年

关键词：

Teleoperation; haptic; input-output linearization; passive stability;

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 describes a proposal for architecture of teleoperation of a mobile robot Quanser Qbot. The robot is telemanipulated by a haptic device Sensable Phantom Omni. For this task, a basic model of the mobile robot is input-output linearized with dynamic extension and it is controlled safely in a teleoperation task in passivity framework. The advantages of the proposal are: (i) the I/O linearization changes the Qbot kinematics from polar to cartesian, facilitating the matching with the omni workspace and (ii) the stability of the system is ensured from the passivity framework adopted.

引用

页码：515 / 520

页数：6