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A Methodology for tele-operating mobile manipulators with an emphasis on operator ease of use

Published online by Cambridge University Press:  07 June 2012

M. Frejek  and
S. B. Nokleby
M. Frejek
Affiliation:
University of Ontario Institute of Technology Oshawa, Ontario, Canada
S. B. Nokleby*
Affiliation:
University of Ontario Institute of Technology Oshawa, Ontario, Canada
*
*Corresponding author. E-mail: scott.nokleby@uoit.ca
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Summary

An algorithm for the tele-operation of mobile-manipulator systems with a focus on ease of use for the operator is presented. The algorithm allows for unified, intuitive, and coordinated control of mobile manipulators. It consists of three states. In the first state, a single 6-degrees-of-freedom (DOF) joystick is used to control the manipulator's position and orientation. The second state occurs when the manipulator approaches a singular configuration, resulting in the mobile base moving in a manner so as to keep the end-effector travelling in its last direction of motion. This is done through the use of a constrained optimization routine. The third state is entered when the operator returns the joystick to the home position. Both the mobile base and manipulator move with respect to one another keeping the end-effector stationary and placing the manipulator into an ideal configuration. The algorithm has been implemented on an 8-DOF mobile manipulator and the test results show that it is effective at moving the system in an intuitive manner.

Keywords

Mobile manipulatorTele-operationOptimizationEase of use
Type
Articles
Information
Robotica , Volume 31 , Issue 3 , May 2013 , pp. 331 - 344
Copyright
Copyright © Cambridge University Press 2012

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