Controller Based on Null Space and Sliding Mode (NSB-SMC) for Bidirectional Teleoperation of Mobile Robots Formation in an Environment with Obstacles

Collaborative Control of Mobile Manipulator Robots Through the Hardware-in-the-Loop Technique

“…The implementation of control algorithms for mobile manipulator robots in the development of collaborative tasks presents a high complexity, because the robots are not always physically available due to the high cost of acquiring each one [14]. Therefore, we suggest the implementation of didactic modules that use the HIL technique [15] as a low cost alternative for the implementation of the proposed algorithms, in which it will be possible to simulate a control environment for the robot, which will analyze the stability of the control algorithm implemented [16], to validate trends in control errors.…”

Construction and Control Aerial Manipulator Robot

“…The most commonly used platforms for air manipulators are the helicopter or multirotor type, in its different variants: quadrotor, hexarotor or octrotor, combined with robotic arms with multiple degrees of freedom [12]. Given the versatility of this type of robotic system, different tasks can be performed, such as: welding [19]; transport of long objects [13]; handling of items placed at a height that is difficult to access [13]; construction [14]; transport of goods [15]; power-line applications [16]; hazardous tasks involving human beings, among others [19,20,21].…”