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Orientation Control Design of a Telepresence Robot: An Experimental Verification in Healthcare System

Authors :
Ali Altalbe
Muhammad Nasir Khan
Muhammad Tahir
Aamir Shahzad
Source :
Applied Sciences, Vol 13, Iss 11, p 6827 (2023)
Publication Year :
2023
Publisher :
MDPI AG, 2023.

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.

Details

Language :
English
ISSN :
13116827 and 20763417
Volume :
13
Issue :
11
Database :
Directory of Open Access Journals
Journal :
Applied Sciences
Publication Type :
Academic Journal
Accession number :
edsdoj.338ca6cc0cb64a05b9a9ef58c8600b1b
Document Type :
article
Full Text :
https://doi.org/10.3390/app13116827