Welcome to the InfoSci Platform
Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems

Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems

Pawel Malysz, Shahin Sirouspour
Copyright: © 2014 |Volume: 2 |Issue: 1 |Pages: 26
ISSN: 2166-7195|EISSN: 2166-7209|EISBN13: 9781466656253|DOI: 10.4018/ijrat.2014010103
Cite Article Cite Article

MLA

Malysz, Pawel, and Shahin Sirouspour. "Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems." IJRAT vol.2, no.1 2014: pp.35-60. http://doi.org/10.4018/ijrat.2014010103

APA

Malysz, P. & Sirouspour, S. (2014). Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems. International Journal of Robotics Applications and Technologies (IJRAT), 2(1), 35-60. http://doi.org/10.4018/ijrat.2014010103

Chicago

Malysz, Pawel, and Shahin Sirouspour. "Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems," International Journal of Robotics Applications and Technologies (IJRAT) 2, no.1: 35-60. http://doi.org/10.4018/ijrat.2014010103

Export Reference

Mendeley
Favorite Full-Issue Download

Abstract

This paper presents a unified framework for system design and control in human-in-the-loop asymmetric robotic systems. It introduces a highly general teleoperation system configuration involving any number of operators, haptic interfaces, and robots with possibly different degrees of mobility. The proposed framework allows for mixed teleoperation/autonomous control of user-defined subtasks by establishing position/force tracking as well as kinematic constraints among relevant teleoperation control frames. The control strategy is hierarchical comprising of a high-level teleoperation coordinating controller and low-level joint velocity controllers. The approach utilizes idempotent, generalized pseudoinverse and weighting matrices in order to achieve new performance objectives that are defined for such asymmetric semi-autonomous teleoperation systems. Three layers of velocity-based autonomous control at different priority levels with respect to human teleoperation are integrated into the framework. A detailed analysis of system performance and stability is presented. Experimental results with a single-master/dual-slave system configuration demonstrate an application of the proposed system design and control strategy.

Request Access

You do not own this content. Please login to recommend this title to your institution's librarian or purchase it from the IGI Global bookstore.