基于输入输出线性化和动态扩展的移动机器人被动遥操作

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI:10.1109/CYBER.2014.6917517

Pablo Falcón, A. Barreiro, M. D. Cacho, E. Delgado

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引用次数: 5

摘要

本文提出了一种移动机器人qanser Qbot的远程操作体系结构方案。这个机器人是由一个触觉设备Sensable Phantom Omni远程操纵的。针对该任务，对移动机器人的基本模型进行动态扩展线性化处理，并在无源框架下对其进行安全控制。该方案的优点是:(1)i /O线性化将Qbot的运动学由极坐标变为直角坐标，便于与全工作空间的匹配;(2)采用的无源框架保证了系统的稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Passive teleoperation of mobile robot with input-output linearization and dynamic extension

This paper describes a proposal for architecture of teleoperation of a mobile robot Quanser Qbot. The robot is telemanipulated by a haptic device Sensable Phantom Omni. For this task, a basic model of the mobile robot is input-output linearized with dynamic extension and it is controlled safely in a teleoperation task in passivity framework. The advantages of the proposal are: (i) the I/O linearization changes the Qbot kinematics from polar to cartesian, facilitating the matching with the omni workspace and (ii) the stability of the system is ensured from the passivity framework adopted.

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The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent

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