Stable kinematic teleoperation of wheeled mobile robots with slippage using time-domain passivity control

被引：14
|
作者：
Li, Weihua [1 ,2 ]
Liu, Zhen [1 ]
Gao, Haibo [1 ]
Zhang, Xuefeng [3 ]
Tavakoli, Mandi [2 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
[2] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB T6G 2V4, Canada
[3] Beijing Inst Astronaut Syst Engn, Beijing 100076, Peoples R China
来源：
MECHATRONICS | 2016年 / 39卷
基金：
加拿大创新基金会; 加拿大自然科学与工程研究理事会; 中国国家自然科学基金;
关键词：
Wheeled mobile robot; Kinematics; Longitudinal slippage; Teleoperation; Absolute stability; BILATERAL TELEOPERATION; ROVER SIMULATION; PLANETARY ROVERS; DYNAMICS; FIDELITY; TERRAMECHANICS; SYSTEMS;
D O I：
10.1016/j.mechatronics.2016.05.005
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Wheel slippage creates control challenges for wheeled mobile robots (WMR). This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage by using the time-domain passivity control (TDPC) approach. We show the potential non-passivity for the environment termination caused by the slippage dynamics. The utilized TDPC approach maintains the passivity of teleoperation system terminations through a passivity observer and a passivity controller at the environment termination. The teleoperation controllers are then simply constrained by Llewellyn's absolute stability criterion for closed-loop stability purposes. Experiments with the proposed controller demonstrate that it can result in stable bilateral teleoperation with a satisfactory tracking performance with TDPC. (C) 2016 Elsevier Ltd. All rights reserved.
引用
收藏
页码：196 / 203
页数：8
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