Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation
Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation
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DOI：
10.1109/cca.2013.6662819
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发表时间：
2013-08
期刊：
影响因子：
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通讯作者：
T. Murao;H. Kawai;Yusei Tsuruo;M. Fujita
中科院分区：
文献类型：
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作者：
T. Murao;H. Kawai;Yusei Tsuruo;M. Fujita
作为视觉反馈双向控制的第一步，本文研究了基于视觉运动观测器的眼手移动机器人双向姿态和位置控制。首先，提出了眼手移动机器人的视觉运动观测器。然后，提出了一种基于视觉运动观测器的姿态机动双边和协调控制律。此外，提出了基于视觉运动观测器的双侧位置控制和稳定性分析方法。本文的主要贡献在于提出了基于无源性的远程操作系统利用视觉信息获取主从机器人相对姿态的双边控制框架。最后，通过计算机仿真和实验验证了该框架的有效性。
This paper investigates, as a first step for visual feedback bilateral control, visual motion observer-based bilateral attitude and position control for eye-in-hand mobile robot teleoperation systems. Firstly, visual motion observers for eye-in-hand mobile robots are presented. Then, a visual motion observer-based bilateral and coordination control laws for attitude maneuvers are proposed. Moreover, visual motion observer-based bilateral position control and stability analysis are presented. The main contribution of this paper is to show that the bilateral control framework in which teleoperation systems utilize visual information to obtain the relative poses of the master and slave robots can be provided based on passivity. Finally, the effectiveness of the proposed framework is verified through computer simulations and experiments.