Virtual-constraint-energy-based cooperative control method in flexible remote-control system of mobile manipulator

Yuta Naito, Nobuto Matsuhira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The flexibility of robot response within unknown remote environments, such as disaster sites, is contingent on situational needs. A single robot generally cannot perform multiple tasks adequately and thus requires integrated systems. Accordingly, accurate control of a robot with plural systems, as in the case of the mobile manipulator presented herein, needs a complex kinematic and dynamic model. We propose a cooperative control method that considers the sum of the kinetic energy of each robot and the virtual constraint kinetic energy. In this manner, each robot's command values are corrected such that the entire robot's energy does not exceed the virtual constraint energy. With this, the robot systems can cooperate without solving the kinematics and dynamic model for the integrated robot. We performed a pick-and-place experiment in which we verified the proposed method's effectiveness in improving the positioning accuracy as a remotely controlled robot gripped an object in an environment with communication delay.

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages972-978
Number of pages7
ISBN (Electronic)9781728167947
DOIs
Publication statusPublished - 2020 Jul
Event2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
Duration: 2020 Jul 62020 Jul 9

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Conference

Conference2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
CountryUnited States
CityBoston
Period20/7/620/7/9

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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