| Autor: |
Jun Zhang, Xuanchen Zhang, Yong Cheng, Yang Cheng, Qiong Zhang, Kun Lu |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
Nuclear Engineering and Technology, Vol 56, Iss 10, Pp 4437-4445 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
1738-5733 |
| DOI: |
10.1016/j.net.2024.06.005 |
| Popis: |
During the process of bilateral teleoperation, operators not only need to perform complex maintenance tasks but also have to constantly monitor the safety of the operation, leading to reduced operational efficiency. Therefore, in this paper, we introduce a shared autonomous scheme that intervenes in the operator's command input when necessary, autonomously ensuring the safe operation of the manipulator by employing a rolling horizon planning controller based on Nonlinear Model Predictive Control (NMPC). This controller considers the motion boundaries and collision avoidance constraints of the manipulator, accompanied by the design of corresponding objective functions. To validate the effectiveness of the proposed method, we conduct tests on collision-free trajectory tracking and comprehensive performance with collision constraints, confirming the feasibility and excellent performance of the approach. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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