Teleoperation with Kinematically Redundant Robot Manipulators with Sub-Task Objectives


Nath N., Tatlicioglu E. , Dawson D. M.

47th IEEE Conference on Decision and Control, Cancun, Mexico, 9 - 11 December 2008, pp.4320-4325 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/cdc.2008.4739142
  • City: Cancun
  • Country: Mexico
  • Page Numbers: pp.4320-4325

Abstract

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 are 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.