Evaluation of Rate-Based, Force-Reflecting Teleoperation in Free Motion and Contact

Williams, Robert L.; Henry, Jason M.; Repperger, D.W.

doi:10.1162/105474600566592

Cited by 10 publications

(2 citation statements)

References 14 publications

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“…A common sensor/actuator asymmetry in telemanipulation uses a 6-DOF positioning, 3-DOF forcefeedback Phantom haptic device (Sensable Technologies, Woburn, MA) to control a 6-DOF slave robot, e.g. [2,3,14].…”

Section: Related Workmentioning

confidence: 99%

Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator

Verner

Okamura

2007

Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07

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Many high-degree-of-freedom haptic devices and teleoperator systems either do not have grippers or do not provide force feedback in the gripper degree of freedom (DOF). The purpose of this work is to determine the effect of gripper force feedback in relation to Cartesian (translational) force feedback on the execution of telemanipulation tasks. We developed a system for adding an additional DOF of grip force feedback on a 3-DOF Phantom haptic device master, as well as 6-DOF force/torque sensing on each "finger" of a coupled gripper on a Phantom haptic device slave. The internal (grip) and external (translational) forces were measured as users performed a soft peg-in-hole task with various DOFs of force feedback: (1) full force feedback, (2) translational force feedback only, (3) grip force feedback only, and (4) no force feedback. Results show that the level of force applied in the translational and gripping DOFs are decoupled for a 3-DOF telemanipulator with added grip force feedback. This is likely due to the decoupled dynamics of internal and external hand forces.

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Section: Related Workmentioning

confidence: 99%

Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator

Verner

Okamura

2007

Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07

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“…Compared to position mode, limited work has been reported on rate mode controllers. Williams and Henry (2000) proposed a transiting rate/force controller which acts as a rate controller in free motion and a force controller in contact. The same methodology has been employed by Rossi et al (2004) for the control of heavy duty hydraulic machines while using a scaled operator force as the slave velocity command.…”

Section: Introductionmentioning

confidence: 99%

Transparent Rate Mode Bilateral Teleoperation Control

Mobasser¹,

Hashtrudi-Zaad

2008

The International Journal of Robotics Research

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Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for an exchange of derivative and integral of measured positions and forces which make transparent rate mode controllers prone to noise and abrupt contact force changes. Moreover, the performance of controllers declines in the presence of communication delays. This paper proposes two control architectures based on the use of local force feedback (LFF) and environment impedance reflection (EIR). The LFF controllers eliminate a force channel while preserving transparency under ideal conditions. In the EIR controller, the identified impedance of the environment is employed in the master controller to predict the slave position and contact force derivatives. The stability robustness and performance of these controllers are evaluated and compared to those of a benchmark controller under different operational conditions, such as noise and delay, using analytical methods and experimental results.

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A bilateral teleoperation controller considering the transition between the free space motion and the constrained motion

2008

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SUMMARYA two-channel bilateral controller is proposed for teleoperation systems. The controller takes into account both the free space motion and the constrained motion. Specifically, the force-position (F-P) architecture is applied during the constrained motion, while the position-position (P-P) architecture is applied during the free space motion. Theoretically, perfect transparency can be achieved. In addition, it does not need to switch the control modes of the master and the slave controllers during the transition between the free space motion and the constrained motion. Experiments are conducted to validate the analysis, and to demonstrate the effectiveness of the proposed bilateral controller. The limitations of the proposed controller are also discussed.

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Evaluation of Rate-Based, Force-Reflecting Teleoperation in Free Motion and Contact

Cited by 10 publications

References 14 publications

Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator

Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator

Transparent Rate Mode Bilateral Teleoperation Control

A bilateral teleoperation controller considering the transition between the free space motion and the constrained motion

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