Consensus Algorithms for Bidirectional Teleoperation of Aerial Manipulator Robots in an Environment with Obstacles

Leica, Paulo; Rivera, Karen; Muela, Stalin; Chávez, Danilo; Andaluz, Gabriela M.; Andaluz, Víctor H.

doi:10.1109/etcm48019.2019.9014872

Cited by 3 publications

(1 citation statement)

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“…Systems generally made up of two or more mobile manipulator robots that fulfill a common objective are called collaborative robots [10] which allows for multi-tasking operations [11], allowing standard controllers to cooperate with each other, to perform complex tasks that cannot be performed by a single robot [12], The control schemes of the collaborative robots are mainly based on: i) centralized architecture in which the central computer generates the control actions to achieve the secondary projections [13]; ii) decentralized architecture, in which all components of the robotic system consist of the proprietary processing unit which develops both kinematic and dynamic control [13].…”

Section: Introductionmentioning

confidence: 99%

Collaborative Control of Mobile Manipulator Robots Through the Hardware-in-the-Loop Technique

Santo

Tandalla

Andaluz

2021

Proceedings of Sixth International Congress on Information and Communication Technology

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This article aims at designing and implementing the "Hardware in the Loop" (HIL) technique, to evaluate the collaborative control algorithm of two mobile manipulator robots to carry out tasks of movement and manipulation of objects in an industrial environment. The developed control structure is made up of a centralized control algorithm, developed in Matlab mathematical software, which is linked to the HIL system, which contains both the kinematic model and the dynamic model of each robotic system programmed on the Raspberry Pi. To analyze the optimal functioning of the proposed control algorithm, an immersive virtual reality scenario is designed and implemented using the UNITY3D graphic engine, which facilitates interaction with the user.

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