Diseño y simulación de una teleoperación bidireccional con realimentación de fuerza para evasión de obstáculos para una formación de tres robots móviles basada en espacio nulo

Abstract

The present work aims to design and simulate a bidirectional teleoperation with force feedback for obstacle avoidance applied to a formation of three mobile robots based on null space in a semi-structured environment with static and dynamic obstacles. The force feedback for the operator is done through a Gaussian zone that generates a repulsive force in the presence of obstacles. The haptic device allows interpreting the user's intention by applying the mechanical impedance criterion. Null-space based controllers are developed using traditional schemes and variable structure schemes. The objectives to meet are maintain form, maintain posture and avoid obstacles. The performance analysis of each of the null space controllers is performed using the IAE, ISE and TVU indices. The static and dynamic obstacle avoidance algorithm is based on the potential field’s method. The algorithms proposed in a virtual environment developed with V-REALM and all their results are shown in a graphical interface developed with the GUIDE tool of Matlab.