TY - GEN
T1 - Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation
AU - Balachandran, Ribin
AU - Ryu, Jee Hwan
AU - Jorda, Mikael
AU - Ott, Christian
AU - Albu-Schaeffer, Alin
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - In the present paper, we first adopt explicit force control from general robotics and embed it into teleoperation systems to enhance the transparency by reducing the effect of the perceived inertia to the human operator and simultaneously improve contact perception. To ensure stability of the proposed teleoperation system considering time-delays, we propose a sequential design procedure based on time domain passivity approach. Experimental results of master-slave teleoperation system, based on KUKA light-weight-robots, for different values of delays are presented. Comparative analysis is conducted considering two existing approaches, namely 2-channel and 4-channel architecture based bilateral controllers, and its results clearly indicate significant improvement in force transparency owing to the proposed method. The proposed system is finally validated considering a real industrial assembly scenario.
AB - In the present paper, we first adopt explicit force control from general robotics and embed it into teleoperation systems to enhance the transparency by reducing the effect of the perceived inertia to the human operator and simultaneously improve contact perception. To ensure stability of the proposed teleoperation system considering time-delays, we propose a sequential design procedure based on time domain passivity approach. Experimental results of master-slave teleoperation system, based on KUKA light-weight-robots, for different values of delays are presented. Comparative analysis is conducted considering two existing approaches, namely 2-channel and 4-channel architecture based bilateral controllers, and its results clearly indicate significant improvement in force transparency owing to the proposed method. The proposed system is finally validated considering a real industrial assembly scenario.
UR - https://www.scopus.com/pages/publications/85092729918
U2 - 10.1109/ICRA40945.2020.9197420
DO - 10.1109/ICRA40945.2020.9197420
M3 - Conference contribution
AN - SCOPUS:85092729918
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 10198
EP - 10204
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -