elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Cartesian Task Allocation for Cooperative, Multilateral Teleoperation under Time Delay

Panzirsch, Michael and Radhakrishna Balachandran, Ribin and Artigas, Jordi (2015) Cartesian Task Allocation for Cooperative, Multilateral Teleoperation under Time Delay. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation (ICRA), 26th-30th May 2015, Seattle,USA.

[img] PDF
775kB

Abstract

Field robots - robots used in unstructured and dynamic environments - and teleoperation have shifted into the focus of a variety of industrial branches in the past few years. The lack of space in the atomic industry, on oil platforms and in space applications demands additional adaptions to current robotic setups. In this paper a MMSS (Multi-Master-Single-Slave) haptic teleoperation system is proposed through which one operator using two master arms can manipulate objects in a cooperative way via one slave robot and a virtual gripping point. To ease the execution of a peg-in-hole task of big objects, a Task Allocation in the Cartesian frame of the end-effector is introduced additionally. The stability of this multilateral system with time delay is guaranteed by the Time Domain Passivity Approach. Therefore the system is divided into several modular subsystems which renders the system easily adaptable to other scenarios.

Item URL in elib:https://elib.dlr.de/96756/
Document Type:Conference or Workshop Item (Speech)
Title:Cartesian Task Allocation for Cooperative, Multilateral Teleoperation under Time Delay
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Panzirsch, Michaelmichael.panzirsch (at) dlr.deUNSPECIFIED
Radhakrishna Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Artigas, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Date:27 May 2015
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:cooperation, multilateral teleoperation, task allocation, peg-in-hole, MOMR, MMMS, TDPA
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Seattle,USA
Event Type:international Conference
Event Dates:26th-30th May 2015
Organizer:Robotics & Automation Society (RAS), IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:22 Jun 2015 12:00
Last Modified:31 Jul 2019 19:53

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.