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

Antoine Lasnier, Toshiyuki Murakami

研究成果: Conference contribution

16 被引用数 (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.

本文言語English
ホスト出版物のタイトル2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
ページ347-352
ページ数6
DOI
出版ステータスPublished - 2010 12 1
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

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

フィンガープリント

「Hybrid sensorless bilateral teleoperation of two-wheel mobile manipulator with underactuated joint」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル