General Objective: Analyze and design a bilateral tele-operation scheme that synergistically complements the human operator in the management of one or several mobile manipulator robots cooperatively, considering in the development, both the negative effects caused by time delays as the transparency of the system.
Specific objectives:
- Build three mobile manipulator robots and condition electrical signals from internal and external sensors for use in advanced control algorithms. In addition, describe the kinematic characteristics of each robot, in order to establish the particularities and difficulties of its control.
- Generate and evaluate different haptic feedback signals that help the human operator to better understand the state of the robot and its environment, thus increasing the transparency of the system.
- Propose a bilateral tele-operation scheme that allows a human operator to cooperatively control three mobile manipulators without 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 Bilateral tele-operation systems proposed.
- Develop a 3D graphical environment that allows simulating the movement and control of n mobile manipulators.
- Carry out experimental evaluations in partially structured environments of the performance of the control algorithms and tele-operation schemes proposed using the mobile manipulators in applications of translation and manipulation of objects.
Participating Institutions:
University of the Armed Forces ESPE, UTA, ESPOCH.
Participants:
- Victor Hugo Andalusian Ortiz
- Edison Gonzalo Espinosa Gallardo
- Marco Enrique Benalcazar Palacios
- Paul Patricio Romero Riera
- Jose Luis Morales Gordon
- Jose Vicente Morales Lozada
Awarded budget: $50000
Project status:
