Passive Task-Prioritized Shared-Control Teleoperation with Haptic Guidance
Résumé
Robot teleoperation is widely used for several hazardous applications. To increase teleoperator capabilities shared-control methods can be employed. In this paper, we present a passive task-prioritized shared-control method for remote telemanipulation of redundant robots. The proposed method fuses the task-prioritized control architecture with hap-tic guidance techniques to realize a shared-control framework for teleoperation systems. To preserve the semi-autonomous telerobotic system safety, passivity is analyzed and an energy-tanks passivity-based controller is developed. The proposed theoretical results are validated through experiments involving a real haptic device and a simulated slave robot.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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