SUMMARYThis paper presents a novel approach to implement bilateral control loops between local haptic devices and remote industrial manipulators using a layer of simulation and virtual reality. The remote scene of manipulation has been visualized in an open-source software environment, where forward and inverse kinematics of the manipulators can be computed. Therefore, the explicit knowledge of mathematical models of the robots is not required for the implementation of the proposed bilateral control schemes. A haptic coupling has been designed between the human operator and the task in the remote environment. Virtually introduced force feedback has contributed to the performance of the proposed bilateral loop by facilitating the adaptation of unexperienced human operators. Teleoperation of one remote manipulator has been experimentally demonstrated with the proposed controllers. Structural modularity of the bilateral haptic control schemes makes them directly extendable for the teleoperation of multiple collaborative robots. Stability and transparency of the proposed bilateral haptic controllers have been theoretically and experimentally investigated.
Purpose This paper aims to present a novel modular design framework for the haptic teleoperation of single-master/multiple-slave (SM/MS) systems with cooperating manipulators. Design/methodology/approach The user commands the remote-leader robot and the slave remote robot follows the leader in a leader–follower formation. The remote-slave is purely force-controlled. A virtual model of the remote environment is introduced between the local and remote environments through simulation software. Locally generated motion inputs are transmitted to the remote environment through the virtual model. A haptic coupling is designed in the virtual environment and the haptic feedback is transmitted to the user along with the forces measured in the remote environment. The controllers proposed in this work are experimentally evaluated with experienced and inexperienced users. Findings The proposed haptic interaction model contributes to the total force feedback and smoothens the high-frequency signals occurring at the physical interaction in the remote environment. Experimental results show that the implemented controllers including the proposed haptic interaction improve the teleoperation performances in terms of trajectory tracking. Furthermore, pure force control of the remote-slave is shown to enhance the robustness of the teleoperation against external disturbances. Satisfactory teleoperation performances are observed with both experienced and inexperienced users. Originality/value The proposed SM/MS teleoperation system involves a multi-purpose virtual simulator and a purely force-controlled remote-slave manipulator in a modular cooperative configuration. The uniquely defined structure of the proposed haptic coupling is used in modeling the interaction between the local and remote manipulators on the one hand, and between cooperating remote manipulators on the other.
This paper presents the mathematical modelling and control system design of an autonomous bicycle. The nonlinear equations of motion have been derived and the proposed control system has been used in the simulation of the dynamical behaviour of the bicycle. With the assumption of rolling without slipping condition for the wheels-ground interaction, the system is constrained by nonholonomic equations, and the equations of motion are highly nonlinear. Unlike many other approaches present in related literature, the dynamical model is preserved in simulations in its original nonlinear form without any simplifying assumptions and linearization. Numerical results of the simulations show that the proposed closedloop control system is achievable. Design of the experimental system has been based on a commercially available bicycle. The mechanical modifications and control system hardware have been designed according to the simulation results.
This paper presents the experimental study on the application of the peg-in-a-hole task in the proposed haptic teleoperation system. Motion references from the user towards the remote manipulator and force feedback signals from the remote environment towards the user are transmitted through a virtual reality layer where the remote operation is simulated in real-tme. Various physical interactions occuring in the bilatral loop are modelled and controlled through the introduction of virtual spring-damper elements. Modeling and controller design of the teleoperation system is made modular and straightforward with the use of identical virtual dynamics. The design approach combines the introduction of the middle layer of virtual reality and modeling of all interactons by identical virtual spring-dampers. The haptic teleoperation system is experimentally evaluated with experienced and unexperienced users in the bilateral loop. Experimental results show that stable peg-in-a-hole operation is achieved in presence of bounded time-delays in all communication channels between the user, virtual reality layer and remote environment. Improvements of the teleoperation performances in terms of position tracking and total operation time are also observed in experiments.
This paper introduces a haptic guided teleoperation framework using a Series Elastic Actuator (SEA) based compliant gripper. The proposed teleoperation system involves one local haptic device, one layer of virtual reality, and one remote industrial manipulator with a compliant gripper. The overall compliance of the teleoperation is distributed between the software and hardware components of the bilateral loop. On the one hand, the implemented haptic guidance is based on an elementary coupling model uniquely defined and established for all interactions among the user, remote manipulator, and virtual interface. On the other hand, the manipulator operating in the remote environment is equipped with a novel compliant gripper based on series elastic actuators, providing passive compliance at the interactions with the environment. Introducing the gripper into the haptic loop is expected to compensate for disturbances due to inaccurate modeling and/or unmodeled dynamics of the remote environment and external effects. The teleoperation system is implemented for manipulation and tracking tasks and tested with different users. Experimental results show that the haptic guidance and the compliant gripper together significantly improve the teleoperation performances in terms of transparency.
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