Stable kinematic teleoperation of wheeled mobile robots with slippage using time-domain passivity control. (November 2016)

• Record Type: Journal Article
• Authors: Li, Weihua; Liu, Zhen; Gao, Haibo; Zhang, Xuefeng; Tavakoli, Mahdi
• Is Part Of: Mechatronics. Volume 39(2016)
• Page Start: 196
• Page End: 203
• Publication Date: 2016-11
• Subjects: Wheeled mobile robot -- Kinematics -- Longitudinal slippage -- Teleoperation -- Absolute stability; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2016.05.005
• Languages: English
• ISSNs: 0957-4158

Abstract

Highlights: We show non-passivity of the environment termination caused by WMR's slippage. TDPC approach is used to maintain passivity of the environment termination. Teleoperation controllers are constrained by Llewellyn's criterion. Experiments demonstrate the proposed controllers can result in stable system. Abstract: Wheel slippage creates control challenges for wheeled mobile robots (WMR). This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage by using the time-domain passivity control (TDPC) approach. We show the potential non-passivity for the environment termination caused by the slippage dynamics. The utilized TDPC approach maintains the passivity of teleoperation system terminations through a passivity observer and a passivity controller at the environment termination. The teleoperation controllers are then simply constrained by Llewellyn's absolute stability criterion for closed-loop stability purposes. Experiments with the proposed controller demonstrate that it can result in stable bilateral teleoperation with a satisfactory tracking performance with TDPC.