Hybrid sensorless bilateral teleoperation of two-wheel mobile manipulator with underactuated joint

Antoine Lasnier, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

Abstract

Bilateral teleoperation is expected to be a key technology for the next generation of robots. Indeed, in many fields of operation, a master-slave system is needed to remotely perform tasks in unknown environments. However, most ground-based haptic devices show some limitations when exploring large workspaces with a high mobility slave robot. In order to address this issue, a hybrid control strategy, which integrates both position control and rate control of the slave manipulator, is proposed. The originality of the proposed approach lies in the combination of switching teleoperation strategy with sensorless force feedback realized by torque observers. Additionally, pitch angle torque observer (PATO) has been implemented to enable force estimation in the passive joint of the slave robot. Experimental results are provided to show the efficiency of the proposed control algorithm.

Original languageEnglish
Title of host publication2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
Pages347-352
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 - Montreal, QC, Canada
Duration: 2010 Jul 62010 Jul 9

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
CountryCanada
CityMontreal, QC
Period10/7/610/7/9

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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