Teleoperated Single-Master-Multiple-Slave System for Cooperative Manipulations in Task Space

Shen, Henghua; Pan, Ya‐Jun; Wan, Lucas

doi:10.1109/icps49255.2021.9468222

Cited by 3 publications

(1 citation statement)

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“…The results of this study showed that haptic cues improved task performance significantly. Additionally, in Shen et al (2021) , the authors propose a framework for a single-master-multiple-slave manipulator system that enables remote regulation of cooperative tasks. They utilize an adaptive non-singular terminal sliding-mode (ANTSM) method to address challenges such as time-varying delays, external disturbances, and modeling uncertainties.…”

Section: Related Workmentioning

confidence: 99%

Towards reuse and recycling of lithium-ion batteries: tele-robotics for disassembly of electric vehicle batteries

Hathaway,

Shaarawy,

Akdeniz

et al. 2023

Front. Robot. AI

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Disassembly of electric vehicle batteries is a critical stage in recovery, recycling and re-use of high-value battery materials, but is complicated by limited standardisation, design complexity, compounded by uncertainty and safety issues from varying end-of-life condition. Telerobotics presents an avenue for semi-autonomous robotic disassembly that addresses these challenges. However, it is suggested that quality and realism of the user’s haptic interactions with the environment is important for precise, contact-rich and safety-critical tasks. To investigate this proposition, we demonstrate the disassembly of a Nissan Leaf 2011 module stack as a basis for a comparative study between a traditional asymmetric haptic-“cobot” master-slave framework and identical master and slave cobots based on task completion time and success rate metrics. We demonstrate across a range of disassembly tasks a time reduction of 22%–57% is achieved using identical cobots, yet this improvement arises chiefly from an expanded workspace and 1:1 positional mapping, and suffers a 10%–30% reduction in first attempt success rate. For unbolting and grasping, the realism of force feedback was comparatively less important than directional information encoded in the interaction, however, 1:1 force mapping strengthened environmental tactile cues for vacuum pick-and-place and contact cutting tasks.

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Section: Related Workmentioning

confidence: 99%