Electronics Proposal for Telerobotics Operation of P3-DX Units

Espinosa, Felipe; Salazar, Marcelo; Pizarro, Daniel; Valdes, F.

doi:10.5772/9245

Cited by 14 publications

(8 citation statements)

References 8 publications

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“…cos sin , (5) donde K 0 y K 0 son las ganancias de control. En definitiva, resulta la siguiente función de Lyapunov que garantiza la estabilidad del sistema en lazo cerrado , (6) donde es un factor de ajuste mayor que 0.…”

Section: Solución De Control Basada En Lyapunovunclassified

“…Tanto el nodo de control como el de sensado cuentan con un mini PC (NUC5i3RYH) con un Procesador Core i3 y RAM de 4GB. El robot es un Pioneer P3-DX con la arquitectura electrónica adicional descrita en [6]. Los procesadores de los tres nodos utilizan Ubuntu (versión 12.04) como sistema operativo que proporciona la herramienta estándar de sincronización NTP (versión 4.2.6).…”

Section: Experimentaciónunclassified

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Aproximación de robot a un punto basada en eventos con posicionamiento mediante PSD

Santos¹,

Rodríguez²,

Llana³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

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ResumenEn los sistemas de control en red, las estrategias de control basado en eventos han demostrado su efectividad para reducir notablemente la carga del canal inalámbrico sin degradar de forma significativa el índice de comportamiento establecido. El mecanismo de generación de eventos Self-triggered contempla un tiempo mínimo para garantizar estabilidad y un tiempo máximo de aceptación del sistema en lazo abierto. El tiempo mínimo, en la práctica, suele venir impuesto por la frecuencia máxima de cómputo del sistema a controlar y de actualización de los sensores remotos. Entre los sensores de posicionamiento en interiores que mayor tiempo de procesamiento requieren están las cámaras de visión artificial por lo que se siguen explorando técnicas de sensado con menor carga computacional. En este contexto, la alternativa de los dispositivos de sensado de posición (PSD) ópticos aporta importantes mejoras que se evalúan en este trabajo. Para la validación experimental se utiliza un robot P3-DX, con control aperiódico Self-triggered para alcanzar un punto de destino a partir de una determinada pose, utilizando un emisor IRED embarcado y un PSD en la infraestructura.Palabras clave: sistema de posicionamiento, sensor óptico de posición, control basado en eventos Selftriggered, sistema de control en red, red inalámbrica de sensores, robótica.

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Section: Solución De Control Basada En Lyapunovunclassified

Section: Experimentaciónunclassified

Aproximación de robot a un punto basada en eventos con posicionamiento mediante PSD

Santos¹,

Rodríguez²,

Llana³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

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“…T ELEOPERATION technologies are widely used in space exploration [1], disaster relief [2], surgery [3] and surveillance due to the existence of risks to humans or unreachable physical distances. A typical teleoperation system is usually constructed in a master-slave architecture, in which the key components are control methods developed for slave robot, humanrobot interfaces sending commands to robot while receiving a feedback for human, and communication support to avoid large time delays [4]. Position-or velocity-based teleoperation systems with force feedback are among the most common to benefit from such an architecture [5].…”

Section: Introductionmentioning

confidence: 99%

A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant

Balatti

Lorenzini

et al. 2019

IEEE Robot. Autom. Lett.

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This letter presents a novel teleoperation interface that enables remote loco-manipulation control of a MObile Collaborative robotic Assistant (MOCA). MOCA is a new research platform developed at the Istituto Italiano di Tecnologia (IIT), which is composed of a lightweight manipulator arm, a Pisa/IIT SoftHand, and a mobile platform driven by four omni-directional wheels. A whole-body impedance controller is consequently developed to ensure accurate tracking of the impedance and position trajectories at MOCA end-effector by considering the causal interactions in such a dynamic system. The proposed teleoperation interface provides the user with two control modes: locomotion and manipulation. The locomotion mode receives inputs from a personalized human center-of-pressure model, which enables real-time navigation of the MOCA mobile base in the environment. The manipulation mode receives inputs from a tele-impedance interface, which tracks human arm endpoint stiffness and trajectory profiles in real time and replicates them using the MOCA's whole-body impedance controller. To evaluate the performance of the proposed teleoperation interface in the execution of remote tasks with dynamic uncertainties, a sequence of challenging actions, i.e., navigation, door opening, and wall drilling, has been considered in the experimental setup.

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“…A solution based on the discrete Extended Kalman Filter (EKF) is proposed. Units used in the convoy demonstrator are based on P3-DX robots from MobileRobots [ 18 , 19 ], that have been adapted to the requirements of the proposed scenario with different electronic devices (see Figures 1 and 2 ); some of them were designed ad-hoc [ 20 , 21 ].…”

Section: Introductionmentioning

confidence: 99%

Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance

Espinosa

Santos

Marrón

et al. 2011

Sensors

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This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments. This positioning system is carried out fusing two sensorial sources: (a) an odometric system and (b) a laser scanner together with artificial landmarks located on top of the units. The laser source allows one to compensate the cumulative error inherent to dead-reckoning; whereas the odometry source provides less pose uncertainty in short trajectories. A discrete Extended Kalman Filter, customized for this application, is used in order to accomplish this aim under real time constraints. Different experimental results with a convoy of Pioneer P3-DX units tracking non-linear trajectories are shown. The paper shows that a simple setup based on low cost laser range systems and robot built-in odometry sensors is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications.

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Electronics Proposal for Telerobotics Operation of P3-DX Units

Cited by 14 publications

References 8 publications

Aproximación de robot a un punto basada en eventos con posicionamiento mediante PSD

Aproximación de robot a un punto basada en eventos con posicionamiento mediante PSD

A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant

Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance

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