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Teleoperation with kinematically redundant robot manipulators with sub-task objectives*

Published online by Cambridge University Press:  06 March 2009

Nitendra Nath ,
Enver Tatlicioglu  and
Darren M. Dawson
Nitendra Nath*
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA
Enver Tatlicioglu
Affiliation:
Department of Electrical & Electronics Engineering, Izmir Institute of Technology, Gulbahce Koyu, Urla, Izmir 35430, Turkey
Darren M. Dawson
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA
*
†Corresponding author. E-mail: nnath@clemson.edu
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Summary

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In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunov-based stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective. Numerical simulation results are presented to illustrate the effectiveness of the proposed controller.

Keywords

TeleoperationRedundant manipulatorsControl of robotic systemsLyapunov-based controlSub-control objectives

Information

Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 1027 - 1038
Copyright
Copyright © Cambridge University Press 2009

Footnotes

*

A preliminary version of this paper has appeared in ref. [1]

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