Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 4, Issue 3, Pages 2746-2753Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2019.2917707
Keywords
Optimization and optimal control; motion and path planning; industrial robots
Categories
Funding
- Nazarbayev University Faculty Development Grant Project Development of an Intelligent Assistive Robot Manipulation System for Improving the Quality of Life of Disabled People in Kazakhstan
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This letter proposes a model predictive control approach for semi-autonomous teleoperation of robot manipulators: the focus is on avoiding obstacles with the whole robot frame, while exploiting predictions of the operator's motion. The hand pose of the human operator provides the reference for the end effector, and the robot motion is continuously replanned in real time, satisfying several constraints. An experimental case study is described regarding the design and testing of the described framework on a URS manipulator: the experimental results confirm the suitability of the proposed method for semi-autonomous teleoperation, both in terms of performance (tracking capability and constraint satisfaction) and computational complexity (the control law is calculated well within the sampling interval).
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