Online Trajectory Planning based Motion Control of a Teleoperation Robot System*

Motion control of the teleoperation robot system has been a critical issue in the teleoperation applications. Various control strategies have been proposed while the physical hard constraints of the robot are ignored in most of the current works. Trajectories violating the physical constraints may lead to a significant deterioration of the motion control performance. To address this issue, many trajectory planning algorithms have been developed. Unfortunately, most of these algorithms can not be applied in the teleoperation case since the trajectory herein is generated by a human operator and thus its mathematical representation can not be known in advance. In this paper, we propose a novel on-line trajectory planner to deal with this knotty problem existing in the teleoperation case. A real-time interpolator is formulated to capture the unknown trajectory in a mathematical manner. The interpolated trajectory is then on-line planned under the physical constraints. Several experiments are carried out on a teleoperation robot system, and the experimental results validate the benefits of the proposed novel on-line trajectory planner.