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首页> 外文会议>Proceedings of the ASME dynamic systems and control conference 2009 >OUTPUT SYNCHRONIZATION FOR TELEOPERATION OF WHEEL MOBILE ROBOT
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OUTPUT SYNCHRONIZATION FOR TELEOPERATION OF WHEEL MOBILE ROBOT

机译：轮式机器人机器人的输出同步

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摘要

The potential for use of robotic systems in remote applications arenas has long motivated development of robust and stable means of teleoperated control of slave systems. However, telerobotic systems face challenges stemming from the devices themselves, environmental factors, communication and control complexities. To address these challenges, we will adopt the passivity based synchronization framework [1] and study its applicability to safely synchronize two heterogeneous Lagrangian systems. Within this framework, an adaptive controller identifies and stabilizes the dynamics of the master and slave systems and renders the dynamics passive to a secondary coupling input. The passive mapping used to couple the output states of the master and slave systems and is made insensitive to lossy and delayed communication medium. Specifically, an adaptive passive synchronization teleoperation controller is developed between an Omni haptic device that serves as our master and a differentially driven nonholonomic Wheel Mobile Robot (WMR) as the slave system. A battery of hardware-in-the-loop simulations are used to verify the proposed controller.
机译：长期以来，在远程应用领域中使用机器人系统的潜力促使人们开发出强大而稳定的从属系统远程操作控制方式。然而，远程机器人系统面临来自设备本身，环境因素，通信和控制复杂性的挑战。为了解决这些挑战，我们将采用基于无源性的同步框架[1]，并研究其适用性来安全地同步两个异构拉格朗日系统。在此框架内，自适应控制器可识别和稳定主从系统的动态，并使动态对次级耦合输入无源。被动映射用于耦合主系统和从系统的输出状态，并使其对有损和延迟的通信介质不敏感。具体来说，在作为我们的主机的Omni触觉设备与作为从属系统的差动驱动非完整轮式移动机器人（WMR）之间开发了一种自适应被动同步遥操作控制器。一连串的硬件在环仿真被用来验证所提出的控制器。

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