Abstract
In this paper we describe how a generic interoperability telerobotics protocol can be applied for master-slave robotic systems operating in position-position, position-speed and hybrid control modes. The interoperability protocol allows robust and efficient data exchange for teleoperation systems, however it was not shown how it can fit switching position and rate control modes. Here we propose the general framework of hybrid position and rate control modes with interoperability protocol. Furthermore, we demonstrate experimentally that the framework is suitable for robotics teleoperation systems in which a human-operator can switch between position-position and position-speed master and slave robots’ workspace mapping.
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This work is funded by the EPSRC NCNR hub EP/R02572X/1 and QMUL-Genova University PhD Program.
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Omarali, B., Palermo, F., Valle, M., Poslad, S., Althoefer, K., Farkhatdinov, I. (2019). Position and Velocity Control for Telemanipulation with Interoperability Protocol. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11649. Springer, Cham. https://doi.org/10.1007/978-3-030-23807-0_26
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DOI: https://doi.org/10.1007/978-3-030-23807-0_26
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