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Balachandran, Ribin und Ryu, Jee-Hwan und Jorda, Mikael und Ott, Christian und Albu-Schäffer, Alin Olimpiu (2020) Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation. In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-08-31, Paris, France (Online). doi: 10.1109/ICRA40945.2020.9197420. ISBN 978-172817395-5. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/9197420
Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/135308/ | ||||||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Anderer) | ||||||||||||||||||||||||
| Titel: | Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | 1 Juni 2020 | ||||||||||||||||||||||||
| Erschienen in: | 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||||||
| DOI: | 10.1109/ICRA40945.2020.9197420 | ||||||||||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||||||||||
| ISBN: | 978-172817395-5 | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | Teleoperation, explicit force control, stability, TDPA | ||||||||||||||||||||||||
| Veranstaltungstitel: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| Veranstaltungsort: | Paris, France (Online) | ||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
| Veranstaltungsbeginn: | 31 Mai 2020 | ||||||||||||||||||||||||
| Veranstaltungsende: | 31 August 2020 | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Telerobotik (alt) | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||
| Hinterlegt von: | Radhakrishna Balachandran, Ribin | ||||||||||||||||||||||||
| Hinterlegt am: | 29 Jun 2020 13:19 | ||||||||||||||||||||||||
| Letzte Änderung: | 07 Jun 2024 08:43 |
Verfügbare Versionen dieses Eintrags
- Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation. (deposited 29 Jun 2020 13:19) [Gegenwärtig angezeigt]
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