Caso de estudio de una estrategia de asistencia háptico-adaptativa de teleoperación bilateral sin sensores

Autores/as

DOI:

https://doi.org/10.17533/udea.redin.20220993

Palabras clave:

Control Bilateral Háptico, Teleoperación, Modelos de Difusión, Control Adaptativo,, Modelos de Toma de Decisiones

Resumen

Este artículo presenta un esquema de asistencia háptica sin sensor para telerobótica controlada compartida bilateral, más específicamente se enfocará en la implementación de un esquema de asistencia adaptativa desarrollado previamente por uno de los autores. Para la aplicación del esquema de asistencia adaptativa, se establece una configuración de teleoperación con un robot esclavo virtual y un robot maestro real (dispositivo de control háptico) utilizando un dispositivo háptico comercial (de bajo costo), a saber, el háptico Novint Falcon dispositivo. Un problema en la configuración de la teleoperación es la falta de sensores para medir la fuerza de contacto entre el operador humano y el dispositivo de control háptico (es decir, solo se mide la posición del robot maestro), que es necesaria para la aplicación de la asistencia adaptativa. Se propone un aumento de estimación de perturbación de un observador de entrada desconocido con una red neuronal, que permite la estimación de la fuerza humana (externa) bajo incertidumbre de la planta y perturbaciones externas. El documento presenta los resultados de implementación de un problema de seguimiento de ruta (conocido) con evitación de obstáculos (desconocidos), y se presenta un análisis estadístico sobre la efectividad de los esquemas.

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Biografía del autor/a

Jorge Sofrony Esmeral, Universidad Nacional de Colombia

Profesor e Investigador

Tobias Ring, University of Kassel

Investigador con título en Maestría

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Publicado

2022-09-19

Cómo citar

Sofrony Esmeral, J., & Ring, T. (2022). Caso de estudio de una estrategia de asistencia háptico-adaptativa de teleoperación bilateral sin sensores. Revista Facultad De Ingeniería Universidad De Antioquia, (108), 81–97. https://doi.org/10.17533/udea.redin.20220993

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Artículo de investigación