Semi-Autonomous Robot Teleoperation With Obstacle Avoidance via Model Predictive Control

Matteo Rubagotti; Tasbolat Taunyazov; Bukeikhan Omarali; Almas Shintemirov

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Semi-Autonomous Robot Teleoperation With Obstacle Avoidance via Model Predictive Control

机译：通过模型预测控制避免障碍的半自主机器人遥操作

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This letter proposes a model predictive control approach for semi-autonomous teleoperation of robot manipulators: the focus is on avoiding obstacles with the whole robot frame, while exploiting predictions of the operator's motion. The hand pose of the human operator provides the reference for the end effector, and the robot motion is continuously replanned in real time, satisfying several constraints. An experimental case study is described regarding the design and testing of the described framework on a UR5 manipulator: the experimental results confirm the suitability of the proposed method for semi-autonomous teleoperation, both in terms of performance (tracking capability and constraint satisfaction) and computational complexity (the control law is calculated well within the sampling interval).

机译：这封信提出了一种用于机器人机械手半自动遥控操作的模型预测控制方法：重点是在利用操作员运动的预测的同时，避免整个机器人机架出现障碍物。操作员的手势为端部执行器提供了参考，并且机器人的运动会实时不断地进行重新规划，以满足一些约束条件。在UR5机械手上描述了有关上述框架的设计和测试的实验案例研究：实验结果从性能（跟踪能力和约束满足）以及计算能力两方面都证实了所提出的方法适用于半自主遥操作。复杂度（在采样间隔内很好地计算了控制律）。

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来源
《IEEE Robotics and Automation Letters》 |2019年第3期|2746-2753|共8页
作者
Matteo Rubagotti; Tasbolat Taunyazov; Bukeikhan Omarali; Almas Shintemirov;
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作者单位

Department of Robotics and Mechatronics Nazarbayev University Astana Kazakhstan;

Department of Computer Science National University of Singapore Singapore;

School of Electronic Engineering and Computer Science Queen Mary University of London London;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Collision avoidance; End effectors; Robot kinematics; Robot motion; Service robots;

机译：避免碰撞;末端执行器;机器人运动学;机器人动作;服务机器人;

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1. An obstacle avoidance model predictive control scheme for mobile robots subject to nonholonomic constraints: A sum-of-squares approach [J] . Franze G., Lucia W. Journal of the Franklin Institute . 2015,第6期

机译：非完整约束的移动机器人避障模型预测控制方案：平方和方法
2. A Nonsmooth Newton Method for Linear Model-Predictive Control in Tracking Tasks for a Mobile Robot With Obstacle Avoidance [J] . Britzelmeier Andreas, Gerdts Matthias IEEE Control Systems Letters . 2020,第4期

机译：用障碍物避免移动机器人的线性模型预测控制的NONSMOOTH牛顿方法
3. A non-linear model predictive controller with obstacle avoidance for a space robot [J] . Mingming Wang, Jianjun Luo, Ulrich Walter Advances in space research . 2016,第8期

机译：具有空间回避功能的非线性机器人模型预测控制器
4. Teleoperation of a mobile robot with model-predictive obstacle avoidance control [C] . Salmanipour Sajad, Sirouspour Shahin Annual Conference of the IEEE Industrial Electronics Society . 2013

机译：具有模型预测性避障控制的移动机器人的遥操作
5. Predictive Guidance and Control for Robotic Obstacle Avoidance and Hypersonic Trajectory Generation [D] . ?Kassim, Isaac 2020

机译：预测制导与控制的机器人避障超音速轨迹生成
6. A Motion Planning Approach to Automatic Obstacle Avoidance during Concentric Tube Robot Teleoperation [O] . Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, -1

机译：同心管机器人遥操作过程中自动避障的运动规划方法
7. Semi-Autonomous Robot Teleoperation with Obstacle Avoidance Via Model Predictive Control [O] . Matteo Rubagotti, Tasbolat Taunyazov, Bukeikhan Omarali, 2019

机译：半自动机器人遥通，通过模型预测控制避免避免

Semi-Autonomous Robot Teleoperation With Obstacle Avoidance via Model Predictive Control

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