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Single Master Bimanual Teleoperation System with Efficient Regulation
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-0334-2554
Örebro University, School of Science and Technology. (Center for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0001-8119-0843
Örebro University, School of Science and Technology. (Center for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0002-3122-693X
2020 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468Article in journal (Refereed) Epub ahead of print
Abstract [en]

This paper proposes a new single master bimanual teleoperation (SMBT) system with an efficient position, orientation and force regulation strategy. Unlike many existing studies that solely support motion synchronization, the first contribution of the proposed work is to propose a solution for orientation regulation when several slave robots have differing motions. In other words, we propose a solution for self-regulated orientation for dual-arm robots. A second contribution in the paper allows the master with fewer degrees of freedom to control the slaves (with higher degrees of freedom), while the orientation of the slaves is self-regulated. The system further offers a novel force regulation that enables the slave robots to have a smooth and balanced robot-environment interaction with proper force directions. Finally, the proposed approach provides adequate force feedback about the environment to the operator and assists the operator in identifying different motion situations of the slaves. Our approach demonstrates that the forces from the slaves will not interrupt the operator’s perception of the environment. To validate the proposed system, experiments are conducted using a platform consisting of two 7-Degree of Freedom (DoF) slave robots and one 3-DoF master haptic device. The experiments demonstrated good results in terms of position, orientation and force regulation.

Place, publisher, year, edition, pages
IEEE, 2020.
Keywords [en]
Robot kinematics, Force, Task analysis, Kinematics, Force feedback, Synchronization, Force control, orientation regulation, single master bimanual teleoperation (SMBT)
National Category
Robotics
Identifiers
URN: urn:nbn:se:oru:diva-79866DOI: 10.1109/TRO.2020.2973099OAI: oai:DiVA.org:oru-79866DiVA, id: diva2:1392600
Funder
Knowledge Foundation
Note

This work was supported by Autonomous Intelligent Systems for Enterprise and Exploration (AI.MEE) program: AUTODIVE, and the Knowledge Foundation (www.kks.se) under the scope of the AMICI Project: Augmented Interaction for Human-Robot Collaborative Tasks in Industrial Environments.

Available from: 2020-02-08 Created: 2020-02-08 Last updated: 2020-03-10Bibliographically approved

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Sun, DaLiao, QianfangLoutfi, Amy

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4243444546474845 of 226
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