Switching control signal for bilateral tele-operation of a mobile manipulator

Victor H. Andaluz; Lucio R. Salinas; Flavio Roberti; Juan M. Toibero; Ricardo Carelli

doi:10.1109/ICCA.2011.6138029

Switching control signal for bilateral tele-operation of a mobile manipulator

Victor H. Andaluz^*, Lucio R. Salinas, Flavio Roberti, Juan M. Toibero, Ricardo Carelli

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

12 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2011 9th IEEE International Conference on Control and Automation, ICCA 2011
Pages	778-783
Number of pages	6
DOIs	https://doi.org/10.1109/ICCA.2011.6138029
Publication status	Published - 19 Dec 2011
Event	9th IEEE International Conference on Control and Automation, ICCA 2011 - Santiago, Chile Duration: 19 Dec 2011 → 21 Dec 2011

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	9th IEEE International Conference on Control and Automation, ICCA 2011
Country/Territory	Chile
City	Santiago
Period	19/12/11 → 21/12/11

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10.1109/ICCA.2011.6138029

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Andaluz, V. H., Salinas, L. R., Roberti, F., Toibero, J. M., & Carelli, R. (2011). Switching control signal for bilateral tele-operation of a mobile manipulator. In 2011 9th IEEE International Conference on Control and Automation, ICCA 2011 (pp. 778-783). Article 6138029 (IEEE International Conference on Control and Automation, ICCA). https://doi.org/10.1109/ICCA.2011.6138029

@inproceedings{2ff0514645964df7b708db73033233e8,

title = "Switching control signal for bilateral tele-operation of a mobile manipulator",

abstract = "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.",

author = "Andaluz, \{Victor H.\} and Salinas, \{Lucio R.\} and Flavio Roberti and Toibero, \{Juan M.\} and Ricardo Carelli",

year = "2011",

month = dec,

day = "19",

doi = "10.1109/ICCA.2011.6138029",

language = "English",

isbn = "9781457714757",

series = "IEEE International Conference on Control and Automation, ICCA",

pages = "778--783",

booktitle = "2011 9th IEEE International Conference on Control and Automation, ICCA 2011",

note = "9th IEEE International Conference on Control and Automation, ICCA 2011 ; Conference date: 19-12-2011 Through 21-12-2011",

}

Andaluz, VH, Salinas, LR, Roberti, F, Toibero, JM & Carelli, R 2011, Switching control signal for bilateral tele-operation of a mobile manipulator. in 2011 9th IEEE International Conference on Control and Automation, ICCA 2011., 6138029, IEEE International Conference on Control and Automation, ICCA, pp. 778-783, 9th IEEE International Conference on Control and Automation, ICCA 2011, Santiago, Chile, 19/12/11. https://doi.org/10.1109/ICCA.2011.6138029

Switching control signal for bilateral tele-operation of a mobile manipulator. / Andaluz, Victor H.; Salinas, Lucio R.; Roberti, Flavio et al.
2011 9th IEEE International Conference on Control and Automation, ICCA 2011. 2011. p. 778-783 6138029 (IEEE International Conference on Control and Automation, ICCA).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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T1 - Switching control signal for bilateral tele-operation of a mobile manipulator

AU - Andaluz, Victor H.

AU - Salinas, Lucio R.

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AU - Carelli, Ricardo

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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.

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T2 - 9th IEEE International Conference on Control and Automation, ICCA 2011

Y2 - 19 December 2011 through 21 December 2011

ER -

Switching control signal for bilateral tele-operation of a mobile manipulator

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