Semi-autonomous teleoperation in task space with redundant slave robot under communication delays

Yen Chen Liu, Nikhil Chopra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

Bilateral teleoperation systems have been extensively utilized for implementing tasks in remote or hazardous environments. However, due to the cognitive limitations of the human operator, efficient teleoperation of complex robotic system operating in cluttered environments has been difficult to achieve. In this paper, we study the control problem of a semi-autonomous teleoperation system, where the redundant slave robot can autonomously satisfy several constraints while tracking the position of the master robot in the task space. Considering heterogeneous master and slave robots, we first develop a control algorithm to ensure task space position and velocity tracking between the master and slave robots in the presence of dynamic uncertainties and communication delays. The redundancy of the slave robot is then utilized for achieving sub-task control, such as singularity avoidance, joint limits, and collision avoidance. The control algorithms for the proposed semi-autonomous teleoperation system are validated using numerical simulations on a non-redundant master and a redundant slave robot.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages679-684
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11-09-2511-09-30

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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