Publications / 2006 Proceedings of the 23rd ISARC, Tokyo, Japan

Adaptive Transparent Force Reflecting Teleoperation with Local Force Compensators

Yushing Cheung, Jae H. Chung
Pages 554-559 (2006 Proceedings of the 23rd ISARC, Tokyo, Japan, ISBN 9784990271718, ISSN 2413-5844)
Abstract:

This paper addresses the problems to achieve transparency and contact stability for teleoperation that consists of unconstrained and constrained motions, which are commonly seen in a construction site. The proposed teleoperator used for versatile construction operations keeps human workers from hazardous places. The adaptive bilateral control with a local force compensator is developed based on adaptive impedance control and contact force driven compensation with auto-switching functions. With an unknown slave and construction site dynamics and communication delay, the proposed method guarantees good transparency if no human error exists and low contact force to damp oscillation. Based on an actual haptic device and a virtual manipulator, haptic simulations are presented to demonstrate adaptive transparency and contact stability in the presence of communication delays.

Keywords: teleoperation, robotic intelligence assistance, communication delay, and unstructured environment