Whole-Arm obstacle avoidance for non similar redundant teleoperated robots
نویسندگان
چکیده
This paper presents a controller for whole-arm obstacle avoidance for the slave robot in an unilateral teleoperated robotic system. The slave controller is free of robot inverse kinematics model, and it is conformed of two parts. First a cartesian PID controller is used to render closed loop system stability. The second controller part is the on-line solution of a dynamic optimization problem. It considers the enhancement of the tracking error and obstacle and joint limits avoidance for the slave robot. Gradient flow approach is used to solve on-line the optimization problem. The proposed controller is validated on a testbed, conformed of a three Degrees of Freedom (DOF) parallel robot as a master robot, and a three-DOF planar robot as a salve robot. A CMOS sensor camera is used to get the obstacle position. Experimental results are presented, which show obstacle avoidance in slave robot operational space. A Writing task performance in cartesian space is successful, keeping cartesian errors small and without exceeding mechanical constraints at slave robot joints.
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