Virutual guides for force feedback teleoperation

Author

Jihong Yan ; Chen Yang ; Qingchao Lu ; Jie Zhao

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2013

fDate

26-28 Aug. 2013

Firstpage

145

Lastpage

150

Abstract

In this paper, several kinds of virtual guides have been developed which aims at mitigating trajectory errors between real mobile manipulator and its virtual model, hence improving both the accuracy and the safety of teleoperation. By utilizing proposed virtual guide sphere, corresponding virtual guides have been constructed. Then geometric analysis is conducted since the position relation of manipulator and virtual guide determines their particular interactive states. The experiment is based on human-machine shared control platform, in which force feedback is provided to operators. The final results demonstrate that operators are able to track both force and position of end-effector, meanwhile stable force feedback is available.

Keywords

end effectors; force feedback; geometry; human-robot interaction; mobile robots; telerobotics; trajectory control; virtual reality; end-effector force tracking; end-effector position tracking; force feedback teleoperation; geometric analysis; human-machine shared control platform; interactive states; position relation; real mobile manipulator; teleoperation safety; trajectory error mitigation; virtual guides; virtual model; Force; Force feedback; Manipulators; Robot kinematics; Trajectory; Virtual environments; Teleoperation; force feedback; shared control; virtual environment; virtual guide;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2013 IEEE International Conference on

Conference_Location

Yinchuan

Type

conf

DOI

10.1109/ICInfA.2013.6720286

Filename

6720286