NMPC-MP: Real-time Nonlinear Model Predictive Control for Safe Motion Planning in Manipulator Teleoperation

Babaians, Edwin; Hu, Siqi; Karimi, Mojtaba; Steinbach, Eckehard

doi:10.1109/iros51168.2021.9636802

“…It is not suitable for use in calculating the distance between the robot and the obstacles in the environment. Hu et al [ 19 ] proposed a real-time motion planner tested in a mobile robot. The robot’s body is modeled as boxes, also three cylinders are used per arm.…”

Section: Related Workmentioning

confidence: 99%

An Online Distance Tracker for Verification of Robotic Systems’ Safety

Guclu

¹

,

Örnek

²

,

Özkan

³

et al. 2023

Sensors

2

0

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This paper presents an efficient method for minimum distance calculation between a robot and its environment and the implementation framework as a tool for the verification of robotic systems’ safety. Collision is the most fundamental safety problem in robotic systems. Therefore, robotic system software must be verified to ensure that there are no risks of collision during development and implementation. The online distance tracker (ODT) is intended to provide minimum distances between the robots and their environments for verification of system software to inspect whether it causes a collision risk. The proposed method employs the representations of the robot and its environment with cylinders and an occupancy map. Furthermore, the bounding box approach improves the performance of the minimum distance calculation regarding computational cost. Finally, the method is applied to a realistically simulated twin of the ROKOS, which is an automated robotic inspection cell for quality control of automotive body-in-white and is actively used in the bus manufacturing industry. The simulation results demonstrate the feasibility and effectiveness of the proposed method.

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“…The intersection of robotics, teleoperation, and healthcare has been a focal point of research, driven by the potential to enhance the quality, accessibility, and safety of healthcare services. This section explores pertinent literature and developments in these domains, providing a backdrop against which the present study is positioned [7] [8] [9] [10] [11] [12]. Teleoperated robotic systems have been progressively permeating healthcare, offering solutions that bridge physical distances and enhance capabilities.…”

Section: Related Workmentioning

confidence: 99%

“…The NMPC-MP (Nonlinear Model Predictive Control with Motion Planning) strategy [9] is pivotal in translating the Cartesian coordinates to joint velocities for the robotic manipulator. This translation ensures that the robotic hand moves with precision and stability, especially during intricate tasks.…”

Section: Manipulator Control Strategy With Nmpc-mpmentioning

confidence: 99%

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OCTOPUS: Optimized Cross-border TeleOperated Medicine Pouring Using NextGen Seamless Communication Networks

Babaians,

Gorla,

Ayvasik

et al. 2023

Preprint

0

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<p>Teleoperated robotic systems have become instrumental in advancing remote healthcare services, especially in tasks that require precision and expert oversight. The advent of cutting-edge telecommunication infrastructures, such as 5G, has amplified interest in these systems, although their full potential remains untapped. This study delves into the effectiveness of teleoperated robotic systems for medicine dispensing, comparing the performance of Wi-Fi and 5G networks in a transnational setup between two cities -- Prague and Munich. We focus on the robot's ability to accurately dispense a predefined volume of a syrup-like substance, simulating a delicate healthcare operation, under the guidance of a distant operator. Our research examines the system's holistic performance in real-world implementation across diverse scenarios, encompassing varying network states and feedback methods. Two primary feedback scenarios are considered: one incorporating real-time video streaming and another offering explicit quantitative data on the dispensed volume. Using a blend of quantitative and qualitative methods, we aim to determine the influence of network type and feedback on task efficacy and user satisfaction. This study provides insights into the potential and hurdles of deploying teleoperated robotic systems in crucial healthcare contexts, guiding future advancements in this domain, especially in scenarios, where precision and dependability are crucial.</p>

show abstract

“…The intersection of robotics, teleoperation, and healthcare has been a focal point of research, driven by the potential to enhance the quality, accessibility, and safety of healthcare services. This section explores pertinent literature and developments in these domains, providing a backdrop against which the present study is positioned [7] [8] [9] [10] [11] [12]. Teleoperated robotic systems have been progressively permeating healthcare, offering solutions that bridge physical distances and enhance capabilities.…”

Section: Related Workmentioning

confidence: 99%

OCTOPUS: Optimized Cross-border TeleOperated Medicine Pouring Using NextGen Seamless Communication Networks

Babaians,

Gorla,

Ayvasik

et al. 2023

Preprint

0

View full text Add to dashboard Cite

<p>Teleoperated robotic systems have become instrumental in advancing remote healthcare services, especially in tasks that require precision and expert oversight. The advent of cutting-edge telecommunication infrastructures, such as 5G, has amplified interest in these systems, although their full potential remains untapped. This study delves into the effectiveness of teleoperated robotic systems for medicine dispensing, comparing the performance of Wi-Fi and 5G networks in a transnational setup between two cities -- Prague and Munich. We focus on the robot's ability to accurately dispense a predefined volume of a syrup-like substance, simulating a delicate healthcare operation, under the guidance of a distant operator. Our research examines the system's holistic performance in real-world implementation across diverse scenarios, encompassing varying network states and feedback methods. Two primary feedback scenarios are considered: one incorporating real-time video streaming and another offering explicit quantitative data on the dispensed volume. Using a blend of quantitative and qualitative methods, we aim to determine the influence of network type and feedback on task efficacy and user satisfaction. This study provides insights into the potential and hurdles of deploying teleoperated robotic systems in crucial healthcare contexts, guiding future advancements in this domain, especially in scenarios, where precision and dependability are crucial.</p>

show abstract

NMPC-MP: Real-time Nonlinear Model Predictive Control for Safe Motion Planning in Manipulator Teleoperation

Cited by 16 publications

References 15 publications

An Online Distance Tracker for Verification of Robotic Systems’ Safety

An Online Distance Tracker for Verification of Robotic Systems’ Safety

OCTOPUS: Optimized Cross-border TeleOperated Medicine Pouring Using NextGen Seamless Communication Networks

OCTOPUS: Optimized Cross-border TeleOperated Medicine Pouring Using NextGen Seamless Communication Networks

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