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Single-master/multi-slave haptic teleoperation: a force control scheme
Industrial Robot ( IF 1.8 ) Pub Date : 2021-07-27 , DOI: 10.1108/ir-02-2021-0027
Omer Faruk Argin 1 , Zeki Yagiz Bayraktaroglu 2
Affiliation  

Purpose

This paper aims to present a novel modular design framework for the haptic teleoperation of single-master/multiple-slave (SM/MS) systems with cooperating manipulators.

Design/methodology/approach

The user commands the remote-leader robot and the slave remote robot follows the leader in a leader–follower formation. The remote-slave is purely force-controlled. A virtual model of the remote environment is introduced between the local and remote environments through simulation software. Locally generated motion inputs are transmitted to the remote environment through the virtual model. A haptic coupling is designed in the virtual environment and the haptic feedback is transmitted to the user along with the forces measured in the remote environment. The controllers proposed in this work are experimentally evaluated with experienced and inexperienced users.

Findings

The proposed haptic interaction model contributes to the total force feedback and smoothens the high-frequency signals occurring at the physical interaction in the remote environment. Experimental results show that the implemented controllers including the proposed haptic interaction improve the teleoperation performances in terms of trajectory tracking. Furthermore, pure force control of the remote-slave is shown to enhance the robustness of the teleoperation against external disturbances. Satisfactory teleoperation performances are observed with both experienced and inexperienced users.

Originality/value

The proposed SM/MS teleoperation system involves a multi-purpose virtual simulator and a purely force-controlled remote-slave manipulator in a modular cooperative configuration. The uniquely defined structure of the proposed haptic coupling is used in modeling the interaction between the local and remote manipulators on the one hand, and between cooperating remote manipulators on the other.



中文翻译:

单主/多从触觉遥操作:一种力控制方案

目的

本文旨在提出一种新颖的模块化设计框架,用于具有协作机械手的单主/多从 (SM/MS) 系统的触觉遥操作。

设计/方法/方法

用户命令远程领导机器人,从远程机器人以领导者-跟随者的形式跟随领导者。远程从站是纯力控制的。通过仿真软件在本地和远程环境之间引入远程环境的虚拟模型。本地生成的运动输入通过虚拟模型传输到远程环境。在虚拟环境中设计了触觉耦合,触觉反馈与在远程环境中测量的力一起传输给用户。在这项工作中提出的控制器由有经验和没有经验的用户进行实验评估。

发现

所提出的触觉交互模型有助于总力反馈并平滑远程环境中物理交互中发生的高频信号。实验结果表明,包括所提出的触觉交互在内的实现控制器在轨迹跟踪方面提高了遥操作性能。此外,远程从站的纯力控制被证明可以增强远程操作对外部干扰的鲁棒性。有经验和没有经验的用户都观察到令人满意的遥操作性能。

原创性/价值

拟议的 SM/MS 远程操作系统包括一个多用途虚拟模拟器和一个纯力控制的远程从属机械手,采用模块化协作配置。所提出的触觉耦合的独特定义结构一方面用于对本地和远程操纵器之间的交互进行建模,另一方面用于对协作的远程操纵器之间的交互进行建模。

更新日期:2021-07-27
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