Intuitive Teleoperation of Nonholonomic Mobile Robot with a Manipulator Based on Virtual Reality and Wifi
نویسندگان
چکیده
Teleoperation based space systems have received much attention in the past years.This paper reports the construction and the remote control of a nonholonomic robotic system. The system consists of a three-wheeled mobile platform to keep the robot stable and a 6-DOF articulate manipulator on top of the platform. First, we explain how its design and work, then the kinematic model of the robotic platform is presented considering nonholonomic constraints and the inverse kinematics of the manipulator is described. In order to generate a visualized user interface, we adopt a new development in information technology, which is known as virtual reality (VR). All different movements and manual control of the manipulator are shown in a 3-D virtual environment. Teleoperation is realized by using WiFi to transmit the commands and remote desktop from the lower computer to the upper computer. Finally, experiments prove that the proposed remote operation of the robotic system is reliable and efficient.
منابع مشابه
Generic robotic kinematic generator for virtual environment interfaces
The expansion of robotic systems’ performance, as well as the need for such machines to work in complex environments (hazardous, small, distant, etc.), involves the need for user interfaces which permit efficient teleoperation. Virtual Reality based interfaces provide the user with a new method for robot task planning and control: he or she can define tasks in a very intuitive way by interactin...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملDynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
متن کاملOptimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
متن کاملErgonomic Analysis of a Telemanipulation Technique for a Pyroprocess Demonstration Facility
Teleoperation is the performance of a task or action from a distance. Although, in this sense, teleoperation can be applied to any operation performed from a distance, the term is most commonly associated with robotics and mobile robots and indicates the operation of such machines from a place far from the location of the machine [1]. Several factors are involved in a teleoperated robotic syste...
متن کامل