Tele-Operación Bilateral de Manipuladores Móviles

  • Víctor Hugo Andaluz Universidad de las Fuerzas Armadas ESPE
  • Jessica Ortiz Universidad Tecnológica Indoamérica, Facultad de Ingeniería en Sistemas
  • José Morales Escuela Superior Politécnica de Chimborazo, Facultad de Informática y Electrónica
  • María Perez EPN

Resumen

Resumen: Este trabajo propone una nueva estructura de control estable para la tele-operación bilateral de un robot manipulador móvil. Un manipulador móvil consiste en un robot manipulador (o brazo) ubicado sobre una plataforma móvil (con ruedas o patas). En la estructura de control propuesta la imagen y las fuerzas de interacción entre robot-medio son realimentadas al operador para tener un mejor desempeño en la realización de tareas remotas que requieren tanto la capacidad de locomoción como de manipulación. Además, la estabilidad del sistema es analizada. Se presentan los resultados obtenidos por experimentación, donde se muestra el buen desempeño del robot como fue previsto en el diseño teórico.

Abstract:In this paper a new stable control structure for bilateral tele-operation of a mobile manipulator robot is proposed. A mobile manipulator is a manipulator robot (or arm) located on a moving platform (with wheels or feet). In the proposed control structure image and the interaction forces between robot-half are fed back to the operator to perform better in performing remote tasks that require both the ability of locomotion and manipulation. In addition, the system stability is analyzed. The results obtained by experimentation, where the good performance of the robot is shown as envisaged in the theoretical design are presented.

 


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Biografía del autor/a

Víctor Hugo Andaluz, Universidad de las Fuerzas Armadas ESPE
Departamento de Eléctrica y Electrónica, Profesor Titual Principal 1

Citas

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Publicado
2015-02-28
Cómo citar
Andaluz, V. H., Ortiz, J., Morales, J., & Perez, M. (2015). Tele-Operación Bilateral de Manipuladores Móviles. Revista Politécnica, 35(2), 50. Recuperado a partir de https://revistapolitecnica.epn.edu.ec/ojs2/index.php/revista_politecnica2/article/view/437