A master–slave control method with gravity compensation for a hydraulic teleoperation construction robot

Huang, Lan; Yamada, H.; Ni, Tao; Li, Yanan

doi:10.1177/1687814017709701

Cited by 6 publications

(4 citation statements)

References 26 publications

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“…Achieving transparency without compromising stability is particularly challenging [46], even when considering the simplified system, when we consider the communication delay and distortion [70,71,72]. Examples for such practical tradeoffs between transparency and stability range from healthcare applications to construction robotics [73,74,75,76]. Instabilities can occur directly in the automatic controller in bilateral teleoperation with force feedback [46].…”

Section: Human-centered Stabilitymentioning

confidence: 99%

Coevolution of internal representations in physical human-robot orchestration – models of the surgeon and the robot in robotic surgery

Nisky

Costi²,

Iida³

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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In teleoperated Robot-Assisted Minimally-Invasive Surgery (RAMIS), a surgeon controls the movements of instruments inside the patient’s body via a pair of robotic joysticks. RAMIS has transformed many surgical disciplines, but its full potential is still to be realized. In this chapter we propose a pathway towards overcoming several bottlenecks that are related to transparency and stability of the teleoperation channels that mediate RAMIS. We describe the traditional system centered and the more recent human-centred approaches to teleoperation, and the special considerations for RAMIS as an application of teleoperation. However, the human-centered approach is still one sided view focusing on the surgeon but neglecting the learning capabilities of robotic systems. Hence, we consider a more general idea of physical human-robot orchestration with coevolution of mutual internal representations – of the human and the robot, and discuss it in comparison to human-human collaboration over teleoperated channels.

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Section: Human-centered Stabilitymentioning

confidence: 99%

Coevolution of internal representations in physical human-robot orchestration – models of the surgeon and the robot in robotic surgery

Nisky

Costi²,

Iida³

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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“…Hydraulic manipulators are widely used in aerospace, deep‐sea exploration (Zhang et al, 2017, 2016), forestry (Rantala et al, 2015; Ringdahl et al, 2011) and other fields because of their heavy‐duty performance, in which grasping‐handling tasks, such as wood loading and unloading (Kalmari et al, 2014; Ortiz Morales et al, 2014), construction material handling (Huang et al, 2017) and the handling of goods, play a central role (see Figure 1).…”

Section: Introductionmentioning

confidence: 99%

A practical method for the deformation of long‐stroke hydraulic manipulators in grasping‐handling tasks

Zhou

Zhang

Liu

2023

Journal of Field Robotics

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Long‐stroke hydraulic manipulators are utilized in various grasping‐handling tasks, and the flexible deformation of these manipulators is the primary obstacle that affects precise position control of the end‐effectors in Cartesian space. This deformation is manifested in the following three aspects: joint deformation, structural deformation and clearance variation. Due to deformation uncertainty, methods that model the hydraulic manipulator as a combination of flexible multibody systems and hydraulic actuators are unsuitable. In this article, we propose an incremental inverse kinematics model (IIKM) as a new approach to solving the above deformation difficulties. The projection method is used to obtain the inverse kinematic analytical solution of long‐stroke hydraulic manipulators, which is based on the manipulator deformation in the current configuration (current configuration refers to the arrangement of the manipulator links when the manipulator starts to move to the target position). The proposed method avoids complex flexible multibody modeling and parameter identification, allowing long‐stroke hydraulic manipulators to be accurately controlled within a certain neighborhood. An evaluation coefficient is proposed to analyze the calculation accuracy of the IIKM in combination with the success rate obtained from 190 grasping experiments. Through these experiments, we determine the optimal calculation height range of the IIKM in the vertical direction and the optimal calculation position area in the horizontal direction and prove that the IIKM result can guarantee the success of grasping‐handling tasks when the end‐effector is within the optimal calculation height range.

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“…Differences in the design of robot arm structures between master and slave devices can pose control challenges. For instance, in the industrial sector, the master robot arm is typically smaller than its slave counterpart (Huang et al, 2017). Conversely, the medical sector may have larger master devices than slave devices (Schäfer et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Bilateral Teleoperation with a Shared Design of Master and Slave Devices for Robotic Excavators in Agricultural Applications

Rozaini,

Ahmad Zakey,

Mohd Zaman

et al. 2023

IJERR

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The main objective of this study is to develop a shared design of master and slave devices for bilateral teleoperation mechanisms used for robotic excavators in agricultural applications. In robot teleoperation research, many potential applications within controlled and hazardous environments come to light. Robots, with their capacity for remote control by human operators through master devices, often employ the master-slave teleoperation approach. This strategy finds frequent use across manufacturing, construction, and agriculture industries. The master-slave system necessitates two interdependent components that collaboratively steer the robot in real time. However, challenges arise when manipulating the robot arm proves challenging due to structural differences between the master device (such as a joystick) and the slave device (the robot arm). A stable operational framework must be established for the robot to function optimally. This teleoperation system employs a master device to govern the actions of the slave device, a dynamic that heavily influences the operational complexity. Hence, the focal point of this study is to enhance the master-slave algorithm for teleoperation applications that rely on controlling robot arm movements. Despite the differing dimensions of the master and slave devices, they both share a common structure. The kinematic model bridging these components must be intelligible to ensure user-friendliness, facilitating effortless robot control. Calculating the robot arm's end effector movement and positioning involves employing the forward kinematics of the arm, determined through Denavit-Hartenberg parameters and transformation matrices. By mitigating communication delays between the master and slave devices using a technique centered around the robot arm's end effector position, the effectiveness of teleoperation can be significantly improved. Our designed robot arm attains 80% to 100% precision across joints. In summary, streamlining the robot arm's structure and minimizing delays offers a route to bolstering both stability and efficiency in robotic movement.

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A master–slave control method with gravity compensation for a hydraulic teleoperation construction robot

Cited by 6 publications

References 26 publications

Coevolution of internal representations in physical human-robot orchestration – models of the surgeon and the robot in robotic surgery

Coevolution of internal representations in physical human-robot orchestration – models of the surgeon and the robot in robotic surgery

A practical method for the deformation of long‐stroke hydraulic manipulators in grasping‐handling tasks

Bilateral Teleoperation with a Shared Design of Master and Slave Devices for Robotic Excavators in Agricultural Applications

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