Av. Libertador Gral. San Mart'ın 1102, San Juan, Argentina; UNSJ - CONICET, Argentina.
Av. Libertador Gral. San Mart'ın 1102, San Juan, Argentina; UNSJ - CONICET, Argentina.
ISA Trans. 2019 Dec;95:392-404. doi: 10.1016/j.isatra.2019.05.006. Epub 2019 May 14.
This paper presents a novel strategy for delayed bilateral teleoperation of mobile manipulator robots. The strategy is based on the hypothesis that if the slave robot behaves similarly as the operator would do to the same task, the operator's perception of the system states improves, and therefore the performance of the task is better. The proposed scheme allows controlling in simultaneously the mobile platform and the manipulator robot employing a single master device and maintaining the stability of the system against variable and asymmetric communication time delays. Stability guidelines based on Lyapunov-Krasovskii method are provided for the adjustment of the delayed system. Besides, a new control allocation strategy is proposed founded on the study of human movement in a task of navigation-pick and place. Finally, the performance of the proposal is compared with the standard switched control using a real robotic platform. As a result in practice, the proposed scheme is easier and more intuitive for the operator, besides it allows to reduce significantly the time necessary to complete the task.
本文提出了一种用于移动机械臂机器人的双边时滞遥操作的新策略。该策略基于这样的假设：如果从机器人的行为与操作员执行相同任务的行为相似，那么操作员对系统状态的感知会得到改善，从而任务的执行效果会更好。所提出的方案允许使用单个主设备同时控制移动平台和机械臂机器人，并保持系统在可变和非对称通信延迟下的稳定性。基于 Lyapunov-Krasovskii 方法提供了稳定性准则，用于调整时滞系统。此外，基于导航-拾取和放置任务中人类运动的研究，提出了一种新的控制分配策略。最后，使用真实的机器人平台对所提出的方案与标准切换控制的性能进行了比较。结果表明，在实际应用中，该方案对操作员来说更加容易和直观，同时还可以显著减少完成任务所需的时间。
