Communication Dans Un Congrès Année : 2019

Position and Velocity Control for Telemanipulation with Interoperability Protocol

Bukeikhan Omarali
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Francesca Palermo
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Maurizio Valle
Stefan Poslad
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Kaspar Althoefer
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Ildar Farkhatdinov
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Résumé

In this paper we describe how a generic interoperability teler-obotics protocol can be applied for master-slave robotic systems operating in position-position, position-speed and hybrid control modes. The interoperability protocol allows robust and efficient data exchange for teleoperation systems, however it was not shown how it can fit switching position and rate control modes. Here we propose the general framework of hybrid position and rate control modes with interoperability protocol. Furthermore, we demonstrate experimentally that the framework is suitable for robotics teleoperation systems in which a human-operator can switch between position-position and position-speed master and slave robots' workspace mapping.

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hal-02123753 , version 1 (09-05-2019)

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  • HAL Id : hal-02123753 , version 1

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Bukeikhan Omarali, Francesca Palermo, Maurizio Valle, Stefan Poslad, Kaspar Althoefer, et al.. Position and Velocity Control for Telemanipulation with Interoperability Protocol. 20th Towards Autonomous Robotic Systems Conference, Lecture Notes on Artificial Intelligence, Jul 2019, London, United Kingdom. ⟨hal-02123753⟩

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