Observer based bilateral teleoperation for delayed systems: New proposal and experimental results
Por:
Arteaga-Perez, Marco A., Morales, Marisol, Lopez, Mauro, Nuno, Emmanuel
Publicada:
1 ene 2016
Resumen:
Bilateral local remote systems allow people to perform complex tasks in
a remote or inaccessible environment. Main objectives are robustness,
feeling of presence, task performance, and transparency. The
capabilities of a bilateral robot system rely on the exchange of
measured position and force data. However, the local and remote
manipulators are connected via a communication channel that can result
in substantial delays. Due to the delay nature, neither exact tracking
position nor transparency in teleoperation can be achieved. For this
reason, most control approaches are meant to guarantee only position
regulation, to solve the consensus problem, with or without a leader, or
to synchronize a set of robots by inducing periodic position
trajectories. Furthermore, most algorithms are designed assuming that
joint velocities are available. In this work, a new teleoperation
control observer scheme is introduced with the following properties. In
free movement and without a human operator, the local and the remote
manipulators tend either to a periodic trajectory or to a particular
position, thus achieving either synchronization or position consensus.
When a human operator moves the local robot in free motion, the remote
one tends to track the commanded position with the corresponding delay.
Additionally, in constrained motion the person will have the feeling of
telepresence. Experimental results are provided to test the proposed
algorithm.
Filiaciones:
Arteaga-Perez, Marco A.:
Univ Nacl Autonoma Mexico, Fac Ingn, Dept Control & Robot DIE, Mexico City 04510, DF, Mexico
Morales, Marisol:
Univ Nacl Autonoma Mexico, Fac Ingn, Dept Control & Robot DIE, Mexico City 04510, DF, Mexico
Lopez, Mauro:
Univ Nacl Autonoma Mexico, Fac Ingn, Dept Control & Robot DIE, Mexico City 04510, DF, Mexico
Nuno, Emmanuel:
Univ Guadalajara, Dept Ciencias Computac, Guadalajara, Jalisco, Mexico
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