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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), 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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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/ | ||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Other) | ||||||||||||||||||||||||
| Title: | Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation | ||||||||||||||||||||||||
| Authors: |
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| 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 | ||||||||||||||||||||||||
| Event Start Date: | 31 May 2020 | ||||||||||||||||||||||||
| Event End Date: | 31 August 2020 | ||||||||||||||||||||||||
| 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: | 07 Jun 2024 08:43 |
Available Versions of this Item
- Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation. (deposited 29 Jun 2020 13:19) [Currently Displayed]
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