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.

Transparency of a Bilateral Tele-Operation Scheme of a Mobile Manipulator Robot

“…Ideally, the tele-operation must be completely transparent in order that the human feels a direct interaction with the remote task [23,24]. In order that the human operator have more transparency of the remote site, this work shows a Human Robot Interaction in 3D (HRI-3D) implemented on local site (view Fig.…”

“…The forces can be real or fictitious and are generated by the robot contact or non-contact interaction with the environment. The evolution of robotics and advancement of computers have helped increase the capabilities of tele-operated systems, especially as regards transparency in the local site, thus improving the performance of the human-machine interface [10][11][12].…”

Control allocation for mobile manipulators with on-board cameras

“…Switching Strategies 1) Manual strategy: A simple control scheme is simply to let the operator choose the operation mode directly [8], [9], [10], [11]. The operator then decides what operation mode should be used, for example by pushing a button on the haptic device.…”

“…Also Lasnier and Murakami [10] propose two operation modes: a standard bilateral mode to control the manipulator and a joystick-like rate control mode for the mobile base. Andaluz et al [11] switch between controlling the velocity of the entire vehicle-manipulator system, or the position of the robotic arm only.…”

Stable Delayed Bilateral Teleoperation of Mobile Manipulators

“…In switching control teleoperation is proposed, where the human operator decides to control mobile base speed or final effector position. In a switching control teleoperation is developed, where the velocity of the end effector is controlled instead of the mobile base velocity. Although these works address the problem of bilateral teleoperation, the communication delays are considered negligible, therefore, the closed loop stability of the whole system, including the human operator is not analyzed.…”