TY - GEN
T1 - Switching control signal for bilateral tele-operation of a mobile manipulator
AU - Andaluz, Victor H.
AU - Salinas, Lucio R.
AU - Roberti, Flavio
AU - Toibero, Juan M.
AU - Carelli, Ricardo
PY - 2011/12/19
Y1 - 2011/12/19
N2 - This paper presents both the design and the implementation of a bilateral teleoperation system for a mobile manipulator, allowing a human operator to perform complex tasks in remote environments. Two teleoperation operation modes are proposed: the locomotion mode (mobile manipulator) and the manipulation mode (robotic arm). The human operator can select the modes through the switch located on a haptic device. The user receives visual and force feedback from the remote site, and it sends velocity or position commands to the slave, according to the operation mode. Furthermore, the redundancy control of the system for obstacle avoidance is considered by the mobile platform, and the singular configuration prevention through the system's manipulability control. Finally, experimental results are reported to verify the performance of the proposed system.
AB - This paper presents both the design and the implementation of a bilateral teleoperation system for a mobile manipulator, allowing a human operator to perform complex tasks in remote environments. Two teleoperation operation modes are proposed: the locomotion mode (mobile manipulator) and the manipulation mode (robotic arm). The human operator can select the modes through the switch located on a haptic device. The user receives visual and force feedback from the remote site, and it sends velocity or position commands to the slave, according to the operation mode. Furthermore, the redundancy control of the system for obstacle avoidance is considered by the mobile platform, and the singular configuration prevention through the system's manipulability control. Finally, experimental results are reported to verify the performance of the proposed system.
UR - http://www.scopus.com/inward/record.url?scp=84858986397&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2011.6138029
DO - 10.1109/ICCA.2011.6138029
M3 - Conference Contribution (Conference Proceeding)
AN - SCOPUS:84858986397
SN - 9781457714757
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 778
EP - 783
BT - 2011 9th IEEE International Conference on Control and Automation, ICCA 2011
T2 - 9th IEEE International Conference on Control and Automation, ICCA 2011
Y2 - 19 December 2011 through 21 December 2011
ER -