Tele-Operación Bilateral de un Robot Manipulador Móvil.

Abstract

Development of a scheme for the bilateral tele-operation of a mobile manipulator robot. A robotic manipulator mounted on a mobile base possesses both the dexterity of robotic manipulators and the mobility of a vehicle, and is a versatile solution that offers great potential in a wide variety of applications. For the implementation of the tele-operation system, the kinematic and dynamic modeling of the mobile manipulator was performed using matrix expressions. The intelligent actuators that make up the robot were controlled by the MATLAB libraries of RS-485 communication. The proposed bilateral tele-operation scheme considered the dynamic compensation of the mobile manipulator, and also the force feedback was included at the local site. Finally, using the redundancy control the configuration of the robotic arm and the avoidance of obstacles were solved. Based on the results obtained, it was concluded that the system allows a combination of manipulation and locomotion in the workspace demonstrating an adequate functioning of the system. It is recommended to analyze the content of this work, to determine the state of our country in relation to technological advances in the field of robotics.