NDLI: Control allocation for mobile manipulators with on-board cameras

Content Provider	IEEE Xplore Digital Library
Author	Pham, C.D. From, P.J.
Copyright Year	2013
Description	Author affiliation: Dept. of Math. Sci. & Technol., Norwegian Univ. of Life Sci., Ås, Norway (Pham, C.D.; From, P.J.)
Abstract	This paper presents a new set of approaches for teleoperation of mobile manipulators with on-board cameras. Mobile manipulators consist of a robotic arm which provides for interaction and manipulation, and a mobile base which extends the workspace of the arm. While the position of the onboard camera is determined by the base motion, the principal control objective is the motion of the manipulator arm. This calls for intelligent control allocation between the base and the manipulator arm in order to obtain intuitive control of both the camera and the arm. We implement virtual mass-spring-damper forces between the end-effector and the camera so that the camera follows the end-effector with an overdamped characteristics. The operator therefore only needs to control the end-effector motion, while the vehicle with the camera will follow naturally. The operator is thus able to control the more than six degrees of freedom of the vehicle and manipulator through a standard haptic device. The control allocation problem, i.e., whether the vehicle or manipulator arm actuation is applied, is then performed automatically so that the operator can concentrate on the manipulator motion.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	5002
Ending Page	5008
File Size	294438
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697079
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Vehicles Mobile communication Cameras Haptic interfaces Resource management
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Unimodal asymmetric interface for teleoperation of mobile manipulators: A user study

Human-centered evaluation of multi-user teleoperation for mobile manipulator in unmanned offshore plants

Motion control of a semi-mobile haptic interface for extended range telepresence

Path planning for image-based control of wheeled mobile manipulators

Formation of hierarchical object concept using hierarchical latent Dirichlet allocation

Stable haptic feedback based on a dynamic vision sensor for microrobotics

A contribution to haptic teleoperation of aerial vehicles

Experiences with USAR mobile interfaces: The need for persistent geo-localized information

Haptic feedback of real soft objects with haptic device using flexible sheet

Control allocation for mobile manipulators with on-board cameras

Similar Documents

Unimodal asymmetric interface for teleoperation of mobile manipulators: A user study

Human-centered evaluation of multi-user teleoperation for mobile manipulator in unmanned offshore plants

Motion control of a semi-mobile haptic interface for extended range telepresence

Path planning for image-based control of wheeled mobile manipulators

Formation of hierarchical object concept using hierarchical latent Dirichlet allocation

Stable haptic feedback based on a dynamic vision sensor for microrobotics

A contribution to haptic teleoperation of aerial vehicles

Experiences with USAR mobile interfaces: The need for persistent geo-localized information

Haptic feedback of real soft objects with haptic device using flexible sheet

Control allocation for mobile manipulators with on-board cameras