Teleoperation of a mobile manipulator with feedback forces for evasion of obstacles

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.

Año de publicación:

2019

Keywords:

• Teleoperation
• mobile manipulator
• Evasion of obstacles
• Feedback forces

Fuente:

google

scopus