This paper investigates, as a first step for visual
feedback bilateral control, visual motion observer-based bilateral
attitude and position control for eye-in-hand mobile
robot teleoperation systems. Firstly, visual motion observers
for eye-in-hand mobile robots are presented. Then, a visual
motion observer-based bilateral and coordination control laws
for attitude maneuvers are proposed. Moreover, visual motion
observer-based bilateral position control and stability analysis
are presented. The main contribution of this paper is to show
that the bilateral control framework in which teleoperation
systems utilize visual information to obtain the relative poses of
the master and slave robots can be provided based on passivity.
Finally, the effectiveness of the proposed framework is verified
through computer simulations and experiments.
各種検索
サポート
ヘルプ