Teleoperation of a mobile manipulator with feedback forces for evasion of obstacles

This work develops the teleoperation of a mobile manipulator using a kinematic and dynamic control. In addition, the operator receives feedback forces through a haptic device to evade obstacles. The experiments were performed in a local wireless communication network and using the AKASHA robot. The results show an adequate following of the references of control, speed errors are corrected with minimum communication delays.

• 1. autor: Andaluz, Víctor (author)
• Kolejni autorzy: Varela-Aldás, José (author), Chicaiza, Fernando (author), Quevedo, Washington (author), Ruales Martínez, María Belén (author)
• Format: article
• Język: spa
• Wydane: 2019
• Dostęp online: https://www.researchgate.net/profile/Jose_Varela_Aldas/publication/335327356_Teleoperation_of_a_mobile_manipulator_with_feedback_forces_for_evasion_of_obstacles/links/5d5eac6f458515210259bd46/Teleoperation-of-a-mobile-manipulator-with-feedback-forces-for-evasion-of-obstacles.pdf; https://hdl.handle.net/20.500.14809/3104