Paper Info
Title
Cooperative teleoperation control with projective force mappings.
Abstract
The performance objectives of multiple-master/single-slave cooperative teleoperation systems typically involve shared control where each master device controls the same degrees of freedom of the slave manipulator. In this paper, the transparency objectives for multi-master/single-slave teleoperation systems are generalized to include projected force mappings. These mappings can divide the control of the slave robot in arbitrarily defined task subspaces among the master devices. Constraint type forces are reflected to the operator(s) consistent with such task division. A provably stable adaptive controller is presented to facilitate the new projected force mappings. Experiments with a planar 3DOF dual-master/single-slave teleoperation system are provided to demonstrate the operation of the proposed cooperation teleoperation control strategy.
Year
DOI
Venue
2010
10.1109/HAPTIC.2010.5444641
HAPTICS
Keywords
Field
DocType
adaptive control,manipulators,multi-robot systems,stability,telerobotics,cooperative teleoperation control,master device control,multimaster/single-slave teleoperation systems,multiple-master/single-slave cooperative teleoperation systems,projected force mapping,projective force mapping,provably stable adaptive controller,shared control,slave manipulator,slave robot,transparency objectives,Adaptive Control,Cooperative Teleoperation,Multiple Robot Teleoperation,Nonlinear Control,Telemanipulation,Teleoperation,Transparency
Teleoperation,Control theory,Control theory,Nonlinear control,Computer science,Robot kinematics,Control system,Adaptive control,Master/slave,Telerobotics
Conference
Citations 
PageRank 
References 
4
0.45
11
Authors
2
Name
Order
Citations
PageRank
Pawel Malysz11077.83
Shahin Sirouspour222921.84