Visual Motion Observer-Based Bilateral Control for Eye-in-Hand Mobile Robot Teleoperation

被引：0

作者：

Murao, Toshiyuki ^{[1
]}

Kawai, Hiroyuki ^{[2
]}

Tsuruo, Yusei ^{[2
]}

Fujita, Masayuki ^{[3
]}

机构：

[1] Adv Inst Ind Technol, Master Program Innovat Design & Engn, Tokyo 1400011, Japan

[2] Kanazawa Inst Technol, Dept Robot, Kanazawa, Ishikawa 9218501, Japan

[3] Tokyo Inst Technol, Dept Mech & Control Engn, Tokyo 1528550, Japan

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA) | 2013年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：623 / 630

页数：8

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