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

Antoine Lasnier, Toshiyuki Murakami

研究成果: Conference contribution

12 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
ページ347-352
ページ数6
DOI
出版物ステータスPublished - 2010
イベント2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 - Montreal, QC, Canada
継続期間: 2010 7 62010 7 9

Other

Other2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
Canada
Montreal, QC
期間10/7/610/7/9

Fingerprint

Remote control
Manipulators
Wheels
Robots
Torque
Position control
Feedback

ASJC Scopus subject areas

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

これを引用

Lasnier, A., & Murakami, T. (2010). Hybrid sensorless bilateral teleoperation of two-wheel mobile manipulator with underactuated joint. : IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 347-352). [5695792] https://doi.org/10.1109/AIM.2010.5695792

Hybrid sensorless bilateral teleoperation of two-wheel mobile manipulator with underactuated joint. / Lasnier, Antoine; Murakami, Toshiyuki.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2010. p. 347-352 5695792.

研究成果: Conference contribution

Lasnier, A & Murakami, T 2010, Hybrid sensorless bilateral teleoperation of two-wheel mobile manipulator with underactuated joint. : IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 5695792, pp. 347-352, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010, Montreal, QC, Canada, 10/7/6. https://doi.org/10.1109/AIM.2010.5695792
Lasnier A, Murakami T. Hybrid sensorless bilateral teleoperation of two-wheel mobile manipulator with underactuated joint. : IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2010. p. 347-352. 5695792 https://doi.org/10.1109/AIM.2010.5695792
Lasnier, Antoine ; Murakami, Toshiyuki. / Hybrid sensorless bilateral teleoperation of two-wheel mobile manipulator with underactuated joint. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2010. pp. 347-352
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