BilateralTeleoperationofMultipleCooperativeRobotsover.pptVIP

Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Network: Application Dongjun Lee Mark W. Spong Oscar Martinez-Palafox d-lee@control.csl.uiuc.edu, {mspong,pomartin}@uiuc.edu Research partially supported by the Office of Naval Research (N00014-02-1-0011 and N00014-05-1-0186), the National Science Foundation (IIS 02-33314 and CCR 02-09202), and the College of Engineering at the University of Illinois. Outline 1. Review of the Proposed Control Framework 2. Simulation Results 3. Semi-Experimental Results 4. Conclusions Bilateral Teleoperation of Cooperative Multi-Robots Combine advantages of - bilateral teleoperation: human intervention in uncertain environments - multi-robot cooperation: mechanical strength/dexterity robustness/safety - applications: remote construction/maintenance of space/under-water/civil structures in possibly hazardous environments Semi-Autonomous Teleoperation - Passive Decomposition [LeeLi, CDC03] decomposes slave dynamics into decoupled shape (formation shape) and locked (overall group motion) systems - Local grasping control of decoupled shape system: secure/tight grasping regardless of human command via delayed comm. Channel - Bilateral teleoperation of locked system: by operating the master robot of manageably small DOF, human can tele-control the behavior of the grasped object over the delayed comm. channel while perceiving external forces internal formation shape (cooperative grasping) Shape System behavior of overall group (and grasped object) Locked System Coupling: dropping object!!! Passive decoupling System Modelling and Grasping Shape Function Dynamics of a single master (m-DOF) Dynamics of multiple slave robots (n1+n2+…+nN-DOF) n-DOF product system (n=n1+n2+…+nN-dimensional) Stack-up inertia Coriolis control human force velocity grasping shape function describes internal group formation shape Grasping Shape Function: Rn→Rn-m de