Accurate force reflection method for a multi-d.o.f. haptic interface using instantaneous restriction space without a force sensor in an unstructured environment

Description of Instantaneous Restriction Space for Multi-DOFs Bilateral Teleoperation Systems Using Position Sensors in Unstructured Environments

“…Therefore, the direction of F R would depend on the local controller, even with the same desired command and the constraint conditions. It was demonstrated in [14] that the joint space controller would not be able to correctly reflect the constraints resulting from collision involving slow motion links (as opposed to end-effector) when the master and slave are KDS.…”

“…Previously, Kim et al proposed a position-sensor-based force reflection method, called the restriction space projection (RSP) method [14], which is based on the projection of the restriction space encountered by the slave manipulator in contact with a rigid obstacle in the environment to the master. However, the RSP method proposed in [14] is limited to specific joint constraints and KDS conditions, was not able to calculate the restriction space accurately in cases with multiple obstacle collisions, and was also not able to handle redundancy at the slave side at all. This paper significantly extends the RSP method to the general case under any type of constraint for all of the KDS conditions listed in Table I.…”

Restriction Space Projection method for position sensor based force reflection of multi degrees-of-freedom bilateral teleoperation systems in unstructured environments

“…In the previous study, the conventional position sensor based force reflection method, known as position error feedback method, is shown not to be able to adequately describe the direction of the force reflection especially when the bilateral teleoperation system is multi degrees-of-freedom [1]- [3]. Therefore, enhanced K. Kim position sensor based force reflection frameworks have been proposed for multi degrees-of-freedom bilateral teleoperation systems satisfying the following conditions [1]- [3]:…”

“…Previously, Kim et al proposed a position sensor based force reflection method, called restriction space projection (RSP) method [2], [3], which is based on the projection of the restriction space encountered by the slave manipulator in contact with a rigid obstacle in the environment to the master. However, the RSP method proposed in [2], [3] is limited to specific joint constraints and kinematic dissimilarity conditions.…”

“…However, the RSP method proposed in [2], [3] is limited to specific joint constraints and kinematic dissimilarity conditions. The method proposed in [2], [3] was not able to calculate the restriction space accurately in cases with multiple obstacle collisions. The method proposed in [2], [3] was also not able to handle redundancy at the slave side at all.…”