Teleoperation with kinematically redundant robot manipulators with sub-task objectives
Articles > Article · 2009
Authors: Nitendra Nath, Enver TATLICIOĞLU, Darren M. Dawson
ROBOTICA, Journal Indexed in SCI Expanded, International, 2009, vol 27, pp 1027-1038
DOI: 10.1017/s026357470900544x
Summary
In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces arc unmeasurable. Lyapunov-based stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective. Numerical simulation results are presented to illustrate the effectiveness of the proposed controller.