Volume 8, No. 3, May 2019

General Information

  • ISSN: 2278-0149 (Online)
  • Abbreviated Title:  Int. J. Mech. Eng. Robot. Res.  
  • Editor-in-Chief: ​Prof Richard (Chunhui) Yang, Western Sydney University, Australia
  • Associate Editor: Prof. B.V. Appa Rao, Andhra University; Prof. Ian McAndrew, Capitol Technology University, USA
  • Managing Editor: Murali Krishna. B
  • DOI: 10.18178/ijmerr
  • Abstracting/Indexing: Scopus (since 2016), CNKI, Google Scholar, Crossref, etc.
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International Journal of Mechanical Engineering and Robotics Research
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Rule-Based Approach for Constrained Motion Control of a Teleoperated Robot Arm in a Dynamic Environment

Marie Claire Capolei 1, Haiyan Wu 2, Adrian Llopart M. 1, Silvia Tolu 1, and Ole Ravn 1
1. Technical University of Denmark, Kgs. Lyngby, Denmark
2. Danish Technological Institute, Taastrup, Denmark

Abstract—This paper presents a preliminary robotic solution for constrained teleoperation tasks in an uncertain and dynamic environment. The robotic system is supported by a reasoning agent which makes the control action reactive and context-sensitive. The investigation is motivated by the future Human-Robot collaboration, therefore, it focuses on minimizing or avoiding collisions within the robot and the surroundings objects. The report describes the developed control architecture, which, in its modular and hierarchical structure, combines knowledge from different areas such as control theory, path and trajectory planning, computer vision, collision avoidance, and decision-making theory. The software is implemented in a ROS framework, in order to support a clear and modular design, suitable for future extensions and integration on different hardware components. The experiments are run on both real and simulated systems. The results show an autonomous robot capable of continuously adapting its movements despite the external agent interruptions, with a 99% success rate. We can conclude that an adaptive robotic system capable of performing constrained tasks and simultaneously reacting to external stimuli in an uncertain and dynamic environment is potentially obtainable.

Index Terms—Rule-Based System, Decision-Making, Autonomous Robot, Intelligent system, Robot Control, Constrained Motion Control, ROS

Cite: Marie Claire Capolei, Haiyan Wu, Adrian Llopart M., Silvia Tolu, Ole Ravn, "Rule-Based Approach for Constrained Motion Control of a Teleoperated Robot Arm in a Dynamic Environment," International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 3, pp. 393-400, May 2019. DOI: 10.18178/ijmerr.8.3.393-400