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Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation

Balachandran, Ribin and Ryu, Jee-Hwan and Jorda, Mikael and Ott, Christian and 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), Paris, France (Online). doi: 10.1109/ICRA40945.2020.9197420. ISBN 978-172817395-5. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/9197420

Abstract

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.

Item URL in elib:https://elib.dlr.de/135308/
Document Type:Conference or Workshop Item (Other)
Title:Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Ryu, Jee-Hwanjhryu (at) kaist.ac.krUNSPECIFIED
Jorda, Mikaelmjorda (at) stanford.eduUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:1 June 2020
Journal or Publication Title:2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/ICRA40945.2020.9197420
Publisher:IEEE
ISSN:1050-4729
ISBN:978-172817395-5
Status:Published
Keywords:Teleoperation, explicit force control, stability, TDPA
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Paris, France (Online)
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Telerobotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Radhakrishna Balachandran, Ribin
Deposited On:29 Jun 2020 13:19
Last Modified:11 Mar 2022 16:05

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  • Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation. (deposited 29 Jun 2020 13:19) [Currently Displayed]

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