TY - GEN
T1 - Hybrid sensorless bilateral teleoperation of two-wheel mobile manipulator with underactuated joint
AU - Lasnier, Antoine
AU - Murakami, Toshiyuki
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=79951655082&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2010.5695792
DO - 10.1109/AIM.2010.5695792
M3 - Conference contribution
AN - SCOPUS:79951655082
SN - 9781424480319
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 347
EP - 352
BT - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
T2 - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
Y2 - 6 July 2010 through 9 July 2010
ER -