Executive Summary: To date it is practically impossible for a robot to be 100% autonomous for applications in unstructured environments, this is due to the large number of variables that are generated in dynamic, unknown and time-varying environments, which is why which is eminent the use of tele-operated robots.
The tele-operation of robots involves maneuvering a robot from a distance to perform a given task, thus allowing a human operator to "transport" his ability and skill to remote and/or dangerous work environments, thus minimizing risks. associates, or even more, to reach places inaccessible by man. Thus, the intelligence and experience of experts can be extended to remote applications. In this context, this work proposes the bilateral tele-operation of an aerial manipulator system; This system is characterized by having a high degree of redundancy, since it combines the manipulation capacity of a fixed-base robotic arm with the navigation of an unmanned aerial vehicle with a rotary wing. These systems make it possible to carry out the most common missions of robotic systems that require both air navigation and handling capabilities. The objective of this research project is to propose and analytically analyze the stability of a bilateral tele-operation scheme that allows one or more several human operators maneuver an aerial manipulator robot in a coordinated way, considering in the development the negative effects caused by time delays, in order to increase the transparency of the remote site through virtual reality and augmented reality environments, in the local site . In order to fulfill the objective, the following is proposed: 1) implement the necessary electronics and mechanics on a robotic arm and on a rotary-wing type unmanned aerial vehicle and incorporate internal and external sensors for monitoring and control of the aerial manipulator system, in addition to conditioning electrical signals from sensors for use in advanced control algorithms; 2) implement a 3D virtual reality simulator that allows the immersion of the human operator in a flight task, in which it is possible to implement different advanced autonomous and tele-operated control algorithms; 3) develop an augmented reality interface for the control of an aerial manipulator robot that allows increasing the transparency of the remote site through different haptic devices; 4) propose a bilateral tele-operation scheme that allows one or more human operators to control an air handler out of line of sight in a stable manner in the presence of different time delays, whether constant or variable, in addition to analyzing the stability of the proposed bilateral tele-operation systems; and finally 5) carry out experimental evaluations of the performance of the control algorithms and proposed tele-operation schemes, using the CEDIA Cloud Computational for the processing of the control algorithm to be implemented in each robot; In addition, the Advanced Internet Network will allow the interconnection between Universities, of which two Universities will be the local site, and one University the remote site.
General Objective: Propose a bilateral tele-operation scheme that allows one or several human operators to coordinately maneuver an aerial manipulator robot, considering in the development the negative effects caused by time delays, in order to increase the transparency of the site. remotely through virtual reality and augmented reality environments, on the local site.
Specific objectives:
- Implement the necessary electronics and mechanics on a robotic arm and on a rotary-wing type unmanned aerial vehicle and incorporate internal and external sensors for monitoring and control of the aerial manipulator system, in addition to conditioning the electrical signals of the sensors for their use in advanced control algorithms.
- Implement a 3D virtual reality simulator that incorporates the dynamic loads of the platform-robotic arm pair and that allows the immersion of the human operator in a flight task, in which it is possible to implement different autonomous and tele-operated advanced control algorithms.
- Develop an augmented reality interface for the control of an aerial manipulator robot that allows increasing the transparency of the remote site through different haptic devices.
- Propose a bilateral tele-operation scheme that allows one or several human operators to coordinately maneuver an aerial manipulator robot out of line of sight in a stable manner in the presence of different time delays, whether constant or variable, in addition to analyzing formally the stability of the proposed bilateral tele-operation systems.
- Carry out experimental evaluations in partially structured environments of the performance of the control algorithms and tele-operation schemes proposed using the aerial manipulators in translation and object manipulation applications.
Participating Institutions:
ESPE, UNACH, ESPOCH, UTA.
Participants:
Project Director Victor Hugo Andaluz Ortiz
- Victor Hugo Andalusian Ortiz
- Jose Gioberty Bucheli Andrade
- Edgar Fabian Montaluisa Pilatasig
- Paola Maritza Velasco Sanchez
- Giovanny Cuzco
- Jose Luis Morales Gordon
- Elizabeth Paulina Ayala Bathroom
Awarded budget: $70600
Project status: In progress.
