Design and synchronization control of heterogeneous robotic teleoperation system

Pan, Chengwei; Liu, Xia; Jiang, Wei

doi:10.1109/cac.2017.8242801

Cited by 5 publications

(3 citation statements)

References 9 publications

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“…In this teleoperation setting, the master and slave robots have different kinematic and, possibly, dynamic characteristics; therefore, the control modality for this type of teleoperation differs from the control modality of similar kinematic teleoperation. Pan et al (2017) addressed some of these challenges, focusing on solutions that include a model of the remote robot and its environment to solve problems such as synchronisation (Xu et al, 2016) and controllability. Such methods include the use of digital fixtures to deal with dissimilar kinematics (Liu et al, 2019), which effectively simplifies the control task but for which the task performance is still challenging.…”

Section: Performance In Tele-manipulationmentioning

confidence: 99%

Assessing tele-manipulation systems using task performance for glovebox operations

et al. 2022

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Tele-manipulation is indispensable for the nuclear industry since teleoperated robots cancel the radiation hazard problem for the operator. The majority of the teleoperated solutions used in the nuclear industry rely on bilateral teleoperation, utilizing a variation of the 4-channel architecture, where the motion and force signals of the local and remote robots are exchanged in the communication channel. However, the performance limitation of teleoperated robots for nuclear decommissioning tasks is not clearly answered in the literature. In this study, we assess the task performance in bilateral tele-manipulation for radiation surveying in gloveboxes and compare it to radiation surveying of a glovebox operator. To analyze the performance, an experimental setup suitable for human operation (manual operation) and tele-manipulation is designed. Our results showed that a current commercial off-the-shelf (COTS) teleoperated robotic manipulation solution is flexible, yet insufficient, as its task performance is significantly lower when compared to manual operation and potentially hazardous for the equipment inside the glovebox. Finally, we propose a set of potential solutions, derived from both our observations and expert interviews, that could improve the performance of teleoperation systems in glovebox environments in future work.

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Section: Performance In Tele-manipulationmentioning

confidence: 99%

Assessing tele-manipulation systems using task performance for glovebox operations

et al. 2022

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“…Conversely, the medical sector may have larger master devices than slave devices (Schäfer et al, 2019). This structural discrepancy complicates control for inexperienced operators, such as harvesting tasks in the agricultural sector, worsened by asynchronous movement between master and slave devices (Pan et al, 2017).…”

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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“…In the context of master-slave robotic systems involving the human arm in the master role, many solutions exist that differ in their methods and sources of data collection. Haptic devices [1][2][3] reproducing the robotic arm motion are used for the robot to imitate the haptic device posture moved by hand by an operator. Alternatively, an exoskeleton [4,5] is worn around the user's arm to control the robotic arm joints, or a digital glove [6] is used to control the end-effector position.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Posture Control for a Robotic Manipulator Using Natural Human–Computer Interaction

Plouffe

Payeur

Creţu

2018

5th International Electronic Conference on Sensors and Applications

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In this paper, we propose a vision-based recognition approach to control the posture of a robotic arm with three degrees of freedom (DOF) using static and dynamic human hand gestures. Two different methods are investigated to intuitively control a robotic arm posture in real-time using depth data collected by a Kinect sensor. In the first method, the user’s right index fingertip position is mapped to compute the inverse kinematics on the robot. Using the Forward And Backward Reaching Inverse Kinematics (FABRIK) algorithm, the inverse kinematics (IK) solutions are displayed in a graphical interface. Using this interface and his left hand, the user can intuitively browse and select a desired robotic arm posture. In the second method, the user’s left index position and direction are respectively used to determine the end-effector position and an attraction point position. The latter enables the control of the robotic arm posture. The performance of these real-time natural human control approaches is evaluated for precision and speed against static and dynamic obstacles.

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Design and synchronization control of heterogeneous robotic teleoperation system

Cited by 5 publications

References 9 publications

Assessing tele-manipulation systems using task performance for glovebox operations

Assessing tele-manipulation systems using task performance for glovebox operations

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

Real-Time Posture Control for a Robotic Manipulator Using Natural Human–Computer Interaction

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