In this article, we describe two techniques to enable haptic-guided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, recent developments in cobot technologies have brought in affordable, flexible, and safe torque-controlled robot arms, which can be programmed to generate force feedback to mimic the operation of a haptic device. In this article, we use two Franka Emika Panda robot arms as a twin master-slave system to enable haptic-guided teleoperation. We propose a two layer mechanism to implement force feedback due to 1) object interactions in the slave workspace, and 2) virtual forces, e.g. those that can repel from static obstacles in the remote environment or provide task-related guidance forces. We present two different approaches for force rendering and conduct an experimental study to evaluate the performance and usability of these approaches in comparison to teleoperation without haptic guidance. Our results indicate that the proposed joint torque coupling method for rendering task forces improves energy requirements during haptic guided telemanipulation, providing realistic force feedback by accurately matching the slave torque readings at the master side.

中文翻译：

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具有相同双主的 7-DoF 协作机器人手臂的触觉引导遥操作

在本文中，我们将介绍两种使用 7-DoF 协作机器人手臂作为主设备和从设备来实现触觉引导遥操作的技术。使用协作机器人作为主从系统的一个缺点是主端缺乏力反馈。然而，协作机器人技术的最新发展带来了经济实惠、灵活且安全的扭矩控制机械臂，可以对其进行编程以产生力反馈以模拟触觉设备的操作。在本文中，我们使用两个 Franka Emika Panda 机器人手臂作为双主从系统来实现触觉引导的遥操作。我们提出了一个两层机制来实现力反馈，因为 1) 从属工作区中的对象交互，和 2) 虚拟力，例如那些可以排斥远程环境中的静态障碍物或提供与任务相关的引导力的力。我们提出了两种不同的力渲染方法，并进行了一项实验研究，以评估这些方法与没有触觉引导的遥操作相比的性能和可用性。我们的结果表明，所提出的用于渲染任务部队的关节扭矩耦合方法提高了触觉引导远程操纵过程中的能量需求，通过准确匹配主侧的从扭矩读数来提供逼真的力反馈。