Object-Centered Teleoperation of Mobile Manipulators With Remote Center of Motion Constraint
Autor: | Manuel A. Ruiz Garcia, Rafael A. Rojas, Fiora Pirri |
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Rok vydání: | 2019 |
Předmět: |
0209 industrial biotechnology
Control and Optimization Situation awareness Computer science Interface (computing) Biomedical Engineering 02 engineering and technology Kinematics Virtual reality Mobile manipulation redundant robots telerobotics and teleoperation 020901 industrial engineering & automation Artificial Intelligence Human–computer interaction Obstacle avoidance 0202 electrical engineering electronic engineering information engineering Mobile manipulator Mechanical Engineering Computer Science Applications Human-Computer Interaction Control and Systems Engineering Teleoperation Task analysis 020201 artificial intelligence & image processing Augmented reality Computer Vision and Pattern Recognition |
Zdroj: | IEEE Robotics and Automation Letters |
ISSN: | 2377-3774 |
Popis: | In the context of mobile manipulator teleoperation, intuitive control interfaces are fundamental not only to reduce the operator's workload, but also to improve the situational awareness during the task execution. In the case of object exploration tasks, different operator control units have been proposed, many of them inspired by the augmented reality, virtual reality, and computer games contexts. In this work, one such control interface, known as the orbit control mode , is formalized in terms of the remote center of motion constraints. This interface allows for the definition of a novel control mechanism able to take additional constraints, such as obstacle avoidance and manipulation dexterity, by the exploitation of the system redundancies. Experimental results obtained from a real teleoperation task confirm the validity of the approach. |
Databáze: | OpenAIRE |
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