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dc.contributor.authorClaret, Josep Arnau
dc.contributor.authorBasañez, Luis
dc.date.accessioned2019-08-13T08:42:16Z
dc.date.issued2019
dc.identifier.citationArnau, J.A., Basañez, L. (2019). Teleoperating a mobile manipulation using a UAV camera without robot self-occlusions. En XL Jornadas de Automática: libro de actas, Ferrol, 4-6 de septiembre de 2019 (pp. 694-701). DOI capítulo: https://doi.org/10.17979/spudc.9788497497169.694. DOI libro: https://doi.org/10.17979/spudc.9788497497169es_ES
dc.identifier.isbn978-84-9749-716-9
dc.identifier.urihttp://hdl.handle.net/2183/23741
dc.description.abstract[Abstract] The paper presents a novel teleoperation system that allows the simultaneous command of a mo- bile manipulator and a free ying camera, im- plemented using a UAV, from which the opera- tor can monitor the task execution in real-time. A novel use of the kinematic redundancy is pre- sented to prevent the robot parts from occluding the end-e ector to the operator view. Following an obstacle avoidance approach, an input is fed to the null space that keeps the robot links away from the end-e ector in the image plane as a sec- ondary task. Simulations and the implementation in a real setup show the goodness of the proposed approach.es_ES
dc.description.sponsorshipMinisterio de Economía, Industria y Competitividad; DPI2016-80077-Res_ES
dc.language.isoenges_ES
dc.publisherUniversidade da Coruña, Servizo de Publicaciónses_ES
dc.relation.urihttps://doi.org/10.17979/spudc.9788497497169.694es_ES
dc.rightsAtribución-NoComercial-CompartirIgual 4.0es_ES
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0*
dc.subjectMobile manipulationes_ES
dc.subjectUAVes_ES
dc.subjectTeleoperationes_ES
dc.subjectRedundancyes_ES
dc.subjectObstacle avoidancees_ES
dc.titleTeleoperating a mobile manipulation using a UAV camera without robot self-occlusionses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.rights.accessinfo:eu-repo/semantics/embargoedAccesses_ES
dc.date.embargoEndDate2019-08-25es_ES
dc.date.embargoLift2019-08-25
UDC.startPage694es_ES
UDC.endPage701es_ES
UDC.conferenceTitleXL Jornadas de Automáticaes_ES


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