Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Advanced Robotics: Redundancy and Optimization
Advanced Robotics: Redundancy and Optimization
Design Issues of a Semi-Autonomous Robotic Assistant for the Health Care Environment
Journal of Intelligent and Robotic Systems
Collision-free control of robotic manipulators in the task space
Journal of Robotic Systems
Brief paper: Synchronization of bilateral teleoperators with time delay
Automatica (Journal of IFAC)
Brief paper: An adaptive controller for nonlinear teleoperators
Automatica (Journal of IFAC)
Adaptive non-linear tracking control of kinematically redundant robot manipulators
International Journal of Robotics and Automation
Delay-dependent stability criteria of teleoperation systems with asymmetric time-varying delays
IEEE Transactions on Robotics
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
On tracking performance in bilateral teleoperation
IEEE Transactions on Robotics
A Globally Stable PD Controller for Bilateral Teleoperators
IEEE Transactions on Robotics
Time-delay systems: an overview of some recent advances and open problems
Automatica (Journal of IFAC)
A Kinematic Control Framework for Single-Slave Asymmetric Teleoperation Systems
IEEE Transactions on Robotics
Controlled Synchronization of Heterogeneous Robotic Manipulators in the Task Space
IEEE Transactions on Robotics
| Hi-index | 22.14 |
In teleoperation systems operating in complex environments, due to the cognitive limitations of the human operator and lack of complete information about the remote environment, safety and performance of such systems can potentially be comprised. In order to ensure the safety and enhance the efficiency of complex teleoperation systems operating in cluttered environments, in this paper we investigate a semi-autonomous control framework for bilateral teleoperation. The semi-autonomous teleoperation system is composed of heterogeneous master and slave robots, where the slave robot is assumed to be a redundant manipulator. Considering robots with different configurations, and in the presence of dynamic uncertainties and asymmetric communication delays, we first develop a control algorithm to ensure position and velocity tracking in the task space. Additionally in the absence of dynamic uncertainty, and in the presence of human operator and environmental forces, all signals of the proposed teleoperation system are proven to be ultimately bounded. The redundancy of the slave robot is then utilized for achieving autonomous sub-task control, such as singularity avoidance, joint limits, and collision avoidance. The control algorithms for the proposed semi-autonomous teleoperation system are validated through numerical simulations on a non-redundant master and a redundant slave robot.