Vision sharing for collaboratively-teleoperated mobile manipulators

In this paper, we design the teleoperated mobile manipulators and build a system where they are able to cooperate with multiple users. The 6-DOF mobile manipulator with 6 joints, 1 microphone, 2 cameras and 2 wheels has a broad workspace and flexible mechanical arms as well as can see and hear. First, the structure of teleoperated mobile manipulator is provided and the motion control of it is introduced. Further, the collaboratively-teleoperated mobile manipulator is implemented which is also the goal of our research. Based on the network platform with Users-Server-Robots mode, both commands transport and multimedia data transport are realized. Therefore, controllers could obtain the real-time remote state information of manipulators which is called vision sharing, and send the control commands in time to them as feedback. Finally, several experiments are carried out with the actual mobile manipulator in our lab, which later has achieved the expected result.