Teleoperating a mobile manipulation using a UAV camera without robot self-occlusions

• Josep-Arnau Claret ^[1] ; Luis Basañez ^[1]
  1. [1] Institut d'Organització i Control de Sistemes Industrials
• Localización: XL Jornadas de Automática: libro de actas. Ferrol, 4-6 de septiembre de 2019 / coord. por José Luis Calvo Rolle, José-Luis Casteleiro-Roca, Isabel Fernández-Ibáñez, Óscar Fontenla Romero, Esteban Jove Pérez, Alberto J. Leira-Rejas, José Antonio López Vázquez, Vanesa Loureiro-Vázquez, María-Carmen Meizoso-López, Francisco Javier Pérez Castelo, Andrés José Piñón Pazos, Héctor Quintián Pardo, Juan Manuel Rivas Rodríguez, Benigno Antonio Rodríguez Gómez, Rafael A. Vega-Vega, 2019, ISBN 978-84-9749-716-9, págs. 694-701
• Idioma: inglés
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• Resumen

  • The paper presents a novel teleoperation system that allows the simultaneous command of a mobile manipulator and a free ying camera, implemented using a UAV, from which the operator can monitor the task execution in real-time. A novel use of the kinematic redundancy is presented to prevent the robot parts from occluding the end-e ector to the operator view. Following an obstacle avoidance approach, an input is fed to the null space that keeps the robot links away from the end-e ector in the image plane as a sec ondary task. Simulations and the implementation in a real setup show the goodness of the proposed approach.