A hybrid position–rate teleoperation system
| Autor: | Keyvan Hashtrudi-Zaad, Chiedu N. Mokogwu |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Scheme (programming language)
Masking (art) 0209 industrial biotechnology Computer science General Mathematics Stability (learning theory) 02 engineering and technology Workspace Motion (physics) Computer Science Applications 03 medical and health sciences Task (computing) 020901 industrial engineering & automation 0302 clinical medicine Control and Systems Engineering Position (vector) Control theory 030220 oncology & carcinogenesis Teleoperation computer Software computer.programming_language |
| Zdroj: | Robotics and Autonomous Systems. 141:103781 |
| ISSN: | 0921-8890 |
| DOI: | 10.1016/j.robot.2021.103781 |
| Popis: | Position resolution is a major problem in teleoperation applications with significant disparity between master and slave workspace. While rate mode control is suitable for slave free motion operations, it poses significant stability and performance challenges for task manipulation. In this paper, we propose a hybrid control scheme that offers seamless transition between position and rate control modes based on the environment location information collected from a range sensor. The system incorporates the strengths of position and rate control modes while masking their shortcomings. Experiments to determine the viability of this method are carried out on a single degree-of-freedom teleoperation test-bed. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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