Stable Delayed Bilateral Teleoperation of Mobile Manipulators. Issue 3 (20th January 2017)

• Record Type: Journal Article
• Authors: Santiago, Diego D.; Slawiñski, Emanuel; Mut, Vicente A.
• Is Part Of: Asian journal of control. Volume 19:Issue 3(2017)
• Page Start: 1140
• Page End: 1152
• Publication Date: 2017-01-20
• Subjects: Nonlinear control -- bilateral teleoperation -- delayed system -- operational space control -- null space control -- mobile manipulator; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.1461
• Languages: English
• ISSNs: 1561-8625

Abstract

Abstract: This paper proposes a control scheme for a stable teleoperation of non‐holonomic mobile manipulator robots. This configuration presents high‐coupled dynamics and motion redundancy. The problem approached in this work is the teleoperation of the end effector velocity of the Mobile Manipulator, while system redundancy is used to achieve secondary control objectives. We considered variable asymmetric time delays as well as non‐passive models of operator and environment. From this study, it is possible to infer the control parameters, depending on the time delay, in order to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through simulations of human‐in‐the‐loop internet teleoperation.