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Dexterous Remote Manipulation by Means of a Teleoperation System

Published online by Cambridge University Press:  04 February 2019

Javier Pliego-Jiménez Open the ORCID record for Javier Pliego-Jiménez [Opens in a new window] ,
Marco A. Arteaga-Pérez  and
César Cruz-Hernández
Javier Pliego-Jiménez*
Affiliation:
Electronics and Telecommunications Department, Applied Physics Division, CICESE-CONACYT, Baja California, Mexico
Marco A. Arteaga-Pérez
Affiliation:
Control and Robotics Department, Electrical Engineering Division, Faculty of Engineering, UNAM, Cd. México, Mexico. E-mail: marteagp@unam.mx
César Cruz-Hernández
Affiliation:
Electronics and Telecommunications Department, Applied Physics Division, CICESE, Baja California, Mexico. E-mail: ccruz@cicese.mx
*
*Corresponding author. E-mail: jpliego@cicese.mx
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Summary

Humans are experts in manipulation and grasping tasks. However, several industrial tasks represent a risk to human operators, for instance, handling radioactive material or transporting heavy objects. Teleoperation robotic schemes extend human capabilities, but they are highly nonlinear systems. In this paper, we address the problem of dexterous remote manipulation by means of a unilateral heterogenous teleoperation scheme composed by a single-master and multiple-slave manipulators handling a rigid object. In order to achieve a stable grasp, a decentralized force/position controller with continuous and bounded input torques based on the Orthogonalization Principle and a second-order sliding mode control is proposed for the slave robots. In addition, a trajectory planning method based on holonomic constraints is proposed to control multiple-slave manipulators with a single-master device. Experimental results are presented to evaluate the performance of the proposed approach.

Keywords

Dexterous manipulationTeleoperationForce controlRobot manipulator
Type
Articles
Information
Robotica , Volume 37 , Issue 8 , August 2019 , pp. 1457 - 1476
Copyright
© Cambridge University Press 2019 

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