Supervisory control for a telerobotic system: a hybrid control approach

摘要

A supervisory controller for a robotic teleoperation system is presented in this paper. The low-level control structure was designed to control both the position and the interaction force between the remote manipulator and its environment. Hybrid systems theory is applied to design the supervisory control in order to detect when force and position thresholds are overcome and when the communication between the local and the remote stations are interrupted or returned. On the occurrence of such events, the controller modifies the references sent from the local station to the remote robot in order to improve performance and operation safety. Simulations as well as experimental results show the performance of the hybrid system incorporating the designed supervisory controller.