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

Yuta Naito, Nobuto Matsuhira

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ972-978
ページ数7
ISBN(電子版)9781728167947
DOI
出版ステータスPublished - 2020 7
イベント2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
継続期間: 2020 7 62020 7 9

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2020-July

Conference

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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