Teleoperation of a mobile manipulator with feedback forces for evasion of obstacles [Teleoperación de un manipulador móvil con retroalimentación de fuerzas para evasión de obstáculos]
Journal
RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao
Date Issued
2019
Author(s)
Andaluz V.H.
Chicaiza F.A.
Quevedo W.X.
Type
Article
Abstract
This work develops the teleoperation of a mobile manipulator using a kinematic and dynamic control. In addition, the operator receives feedback forces through a haptic device to evade obstacles. The experiments were performed in a local wireless communication network and using the AKASHA robot. The results show an adequate following of the references of control, speed errors are corrected with minimum communication delays. © 2019, Associacao Iberica de Sistemas e Tecnologias de Informacao. All rights reserved.
Subjects