Title
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
Recommended Citation
Kebria, Parham M.; Khosravi, Abbas; Nahavandi, Saeid; Homaifar, Abdollah; and Saif, Mehrdad. (2019). Experimental comparison study on joint and cartesian space control schemes for a teleoperation system under time-varying delay. Proceedings of the IEEE International Conference on Industrial Technology, 2019-February, 108-113.
https://scholar.uwindsor.ca/electricalengpub/260