Scheduled System Maintenance:
On Monday, April 27th, IEEE Xplore will undergo scheduled maintenance from 1:00 PM - 3:00 PM ET (17:00 - 19:00 UTC). No interruption in service is anticipated.
By Topic

Design of a coordinated control strategy for multi-mobile-manipulator cooperative teleoperation system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)
Jihong Yan ; State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China ; Jie Zhao ; Chen Yang ; Yanhe Zhu
more authors

The Multi-operator multi-mobile-manipulator (MOM3) teleoperation system is built and several operators located in different places can control the multiple manipulators to collaborate with each other via network. It takes advantage of mobility, cooperation, distribution, which enhance the ability of the system to fit into more complex task. Time delay and dynamic interaction between multi-operator and multi-robot deteriorates its performance. Considering these influence, the human-robot intelligence shared control strategy is proposed to improve performance of the system, which combines the humanrobot intelligence from the master side and slave side respectively. At the master side, the virtual guide can guide or restrict the operators' action, which realizes efficient collaboration and improves the operation accuracy. At the slave side, the coordinated controller fuses operators' commands with force/torque information obtained from corresponding sensors, and achieves expected coordinated control by adjusting coordinated factor. A cooperative task experiment to simulate the dangerous environment is carried out by three operators and mobile-manipulator. Results demonstrate the validity of the strategy proposed.

Published in:

Mechatronics and Automation (ICMA), 2012 International Conference on

Date of Conference:

5-8 Aug. 2012