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

Abstract

This paper investigates a novel position-sensor-based force reflection framework for multi-degree-of-freedom (DOF) bilateral teleoperation systems in unstructured environments. The conventional positionsensor-based force reflection method, which is known as position error feedback, may generate grossly inaccurate force reflection directions during collisions involving the slave manipulator links. The proposed restriction space projection framework calculates the instantaneous restriction space to provide the accurate force reflection, regardless of kinematic dissimilarity (KDS) conditions of bilateral teleoperation systems. Simulation results confirmed the validity of the proposed framework in a KDS bilateral teleoperation system under various constraint conditions. Index Terms-Bilateral teleoperation system, haptic interface, instantaneous restriction space (IRS), obstacle avoidance, restriction space projection (RSP).

Bilateral Teleoperation in Cartesian Space with Time-Varying Delay

“…For convenience of stability analysis, most of the above schemes assumed that the master and the slave share the same kinematical structure, or in other words, they are kinematically similar (KS) [13], in which joint space-based control is available [11] [12]. However, kinematically dissimilar (KDS) teleoperation systems are more universal in application.…”