1,228 research outputs found
Kinesthetic Haptics Sensing and Discovery with Bilateral Teleoperation Systems
In the mechanical engineering field of robotics, bilateral teleoperation is a classic but still increasing research topic. In bilateral teleoperation, a human operator moves the master manipulator, and a slave manipulator is controlled to follow the motion of the master in a remote, potentially hostile environment. This dissertation focuses on kinesthetic perception analysis in teleoperation systems. Design of the controllers of the systems is studied as the influential factor of this issue. The controllers that can provide different force tracking capability are compared using the same experimental protocol. A 6 DOF teleoperation system is configured as the system testbed. An innovative master manipulator is developed and a 7 DOF redundant manipulator is used as the slave robot. A singularity avoidance inverse kinematics algorithm is developed to resolve the redundancy of the slave manipulator. An experimental protocol is addressed and three dynamics attributes related to kineshtetic feedback are investigated: weight, center of gravity and inertia. The results support our hypothesis: the controller that can bring a better force feedback can improve the performance in the experiments
Operator vision aids for space teleoperation assembly and servicing
This paper investigates concepts for visual operator aids required for effective telerobotic control. Operator visual aids, as defined here, mean any operational enhancement that improves man-machine control through the visual system. These concepts were derived as part of a study of vision issues for space teleoperation. Extensive literature on teleoperation, robotics, and human factors was surveyed to definitively specify appropriate requirements. This paper presents these visual aids in three general categories of camera/lighting functions, display enhancements, and operator cues. In the area of camera/lighting functions concepts are discussed for: (1) automatic end effector or task tracking; (2) novel camera designs; (3) computer-generated virtual camera views; (4) computer assisted camera/lighting placement; and (5) voice control. In the technology area of display aids, concepts are presented for: (1) zone displays, such as imminent collision or indexing limits; (2) predictive displays for temporal and spatial location; (3) stimulus-response reconciliation displays; (4) graphical display of depth cues such as 2-D symbolic depth, virtual views, and perspective depth; and (5) view enhancements through image processing and symbolic representations. Finally, operator visual cues (e.g., targets) that help identify size, distance, shape, orientation and location are discussed
Motion Priority Optimization Framework towards Automated and Teleoperated Robot Cooperation in Industrial Recovery Scenarios
In this study, we present an optimization framework for efficient motion
priority design between automated and teleoperated robots in an industrial
recovery scenario. Although robots have recently become increasingly common in
industrial sites, there are still challenges in achieving human-robot
collaboration/cooperation (HRC), where human workers and robots are engaged in
collaborative and cooperative tasks in a shared workspace. For example, the
corresponding factory cell must be suspended for safety when an industrial
robot drops an assembling part in the workspace. After that, a human worker is
allowed to enter the robot workspace to address the robot recovery. This
process causes non-continuous manufacturing, which leads to a productivity
reduction. Recently, robotic teleoperation technology has emerged as a
promising solution to enable people to perform tasks remotely and safely. This
technology can be used in the recovery process in manufacturing failure
scenarios. Our proposition involves the design of an appropriate priority
function that aids in collision avoidance between the manufacturing and
recovery robots and facilitates continuous processes with minimal production
loss within an acceptable risk level. This paper presents a framework,
including an HRC simulator and an optimization formulation, for finding optimal
parameters of the priority function. Through quantitative and qualitative
experiments, we address the proof of our novel concept and demonstrate its
feasibility
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