Experimental comparison study on joint and cartesian space control schemes for a teleoperation system under time-varying delay

Document Type

Conference Proceeding

Publication Date

2-1-2019

Publication Title

Proceedings of the IEEE International Conference on Industrial Technology

Volume

2019-February

First Page

108

Keywords

Cartesian control, Jacobian-based control, Tele-operation, Time-varying delay

Last Page

113

Abstract

In this paper, teleoperation control of a UR5 robotic manipulator under time-varying delay is addressed. Two control methods of joint and Cartesian space are investigated for the teleoperation system. The singularity situations of the UR5 robot are considered for the case of different degrees of freedom (DoF), and also different kinematic properties for the master and slave systems. We first focus on a Cartesian space control of a teleoperation system which is common in the literature. It is shown that this control methodology is highly prone to singular situations. To overcome this problem, a Jacobian-based control strategy in joint space is presented. An extensive simulation study demonstrates the superiority and reliability of the later control methodology.

DOI

10.1109/ICIT.2019.8755087

ISBN

9781538663769

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