Telemanipulation of cooperative robots: a case of study |
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Authors: | Javier Pliego-Jiménez Marco Arteaga-Pérez |
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Affiliation: | Departamento de Control y Robótica, Facultad de Ingeniería, UNAM, Cd. de México, México |
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Abstract: | This article addresses the problem of dexterous robotic grasping by means of a telemanipulation system composed of a single master and two slave robot manipulators. The slave robots are analysed as a cooperative system where it is assumed that the robots can push but not pull the object. In order to achieve a stable rigid grasp, a centralised adaptive position-force control algorithm for the slave robots is proposed. On the other hand, a linear velocity observer for the master robot is developed to avoid numerical differentiation. A set of experiments with different human operators were carried out to show the good performance and capabilities of the proposed control-observer algorithm. In addition, the dynamic model and closed-loop dynamics of the telemanipulation is presented. |
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Keywords: | Telemanipulation adaptive control force control cooperative robots |
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