Object-Centered Teleoperation of Mobile Manipulators With Remote Center of Motion Constraint
Object-Centered Teleoperation of Mobile Manipulators With Remote Center of Motion Constraint
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DOI：
10.1109/lra.2019.2897172
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发表时间：
2019-04-01
影响因子：
5.2
通讯作者：
Pirri, Fiora
中科院分区：
文献类型：
--
作者：
Garcia, Manuel A. Ruiz;Rojas, Rafael A.;Pirri, Fiora
在移动的机械手遥操作的背景下，直观的控制界面是根本，不仅可以减少操作员的工作量，而且还可以提高任务执行过程中的态势感知。在对象探索任务的情况下，已经提出了不同的操作员控制单元，其中许多操作员控制单元受到增强现实、虚拟现实和计算机游戏上下文的启发。在这项工作中，一个这样的控制接口，被称为轨道控制模式，是正式的远程中心的运动约束。该接口允许定义一种新的控制机制，能够采取额外的约束，如避障和操纵灵活性，通过利用系统冗余。从一个真实的遥操作任务的实验结果证实了该方法的有效性。
In the context of mobile manipulator teleoperation, intuitive control interfaces are fundamental not only to reduce the operator's workload, but also to improve the situational awareness during the task execution. In the case of object exploration tasks, different operator control units have been proposed, many of them inspired by the augmented reality, virtual reality, and computer games contexts. In this work, one such control interface, known as the orbit control mode, is formalized in terms of the remote center of motion constraints. This interface allows for the definition of a novel control mechanism able to take additional constraints, such as obstacle avoidance and manipulation dexterity, by the exploitation of the system redundancies. Experimental results obtained from a real teleoperation task confirm the validity of the approach.