Orientation Control Design of a Telepresence Robot: An Experimental Verification in Healthcare System
Source abstract
Abstract
Automation in the modern world has become a necessity for humans. Intelligent mobile robots have become necessary to perform various complex tasks in healthcare and industry environments. Mobile robots have gained attention during the pandemic; human–robot interaction has become vibrant. However, there are many challenges in obtaining human–robot interactions regarding maneuverability, controllability, stability, drive layout and autonomy. In this paper, we proposed a stability and control design for a telepresence robot called auto-MERLIN. The proposed design simulated and experimentally verified self-localization and maneuverability in a hazardous environment. A model from Rieckert and Schunck was initially considered to design the control system parameters. The system identification approach was then used to derive the mathematical relationship between the manipulated variable of robot orientation control. The theoretical model of the robot mechanics and associated control were developed. A design model was successfully implemented, analyzed mathematically, used to build the hardware and tested experimentally. Each level takes on excellent tasks for the development of auto-MERLIN. A higher level always uses the services of lower levels to carry out its functions. The proposed approach is comparatively simple, less expensive and easily deployable compared to previous methods. The experimental results showed that the robot is functionally complete in all aspects. A test drive was performed over a given path to evaluate the hardware, and the results were presented. Simulation and experimental results showed that the target path is maintained quite well.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Teleoperation and Haptic Systems · Gaze Tracking and Assistive Technology · Control and Dynamics of Mobile Robots
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Computer Science, Prince Sattam Bin Abdulaziz University, Al-Kharj 11942, Saudi Arabia
Faculty of Computing and Information Technology, King Abdulaziz University, Jeddah 21589, Saudi Arabia
Electrical Engineering Department, Government College University Lahore, Lahore 54000, Pakistan
Software Engineering Department, Sir Syed University of Engineering and Technology, Karachi 75300, Pakistan
Mechanical Engineering Department, The University of Lahore, Lahore 54000, Pakistan
Funding
Deanship of Scientific Research at Prince Sattam bin Abdulaziz University under the research project
References (56)
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