Design of teleoperation system of KUKA industrial robot and the control algorithm with heterogeneous master/slave structure

被引：0

作者：

Tang Q. ^{[1
,2
]}

Liu S. ^{[1
]}

Shang L. ^{[1
]}

Li Y. ^{[1
]}

机构：

[1] Dongfang Electric Co., R & D Center, Chengdu

[2] School of Manufacturing Sci. and Eng., Sichuan Univ., Chengdu

来源：

Sichuan Daxue Xuebao (Gongcheng Kexue Ban)/Journal of Sichuan University (Engineering Science Edition) | 2016年 / 48卷 / 01期

关键词：

Heterogeneous teleoperation; Homeomorphic transformation; KUKA industrial robot; Master/slave control; Scale transformation;

D O I：

10.15961/j.jsuese.2016.01.027

中图分类号：

学科分类号：

摘要：

The design method of the teleoperation control system using industrial robot KUKA for was introduced the hazard environment and the control algorithm with heterogeneous master/slave structure. Using the Eth. KRLXML software package, a communication based on TCP/IP was connected between the robot controller and the remote computer. The joint angles and positions of the endpoint of the KUKA robot were sent periodically to the remote computer and commands from the remote computer were received and executed by the KUKA robot. Teleoperation control algorithm with relative scale transformation was adopted in the teleoperation system. Motions of the master manipulator was transformed to the slave manipulator's coordinate. By implementing the scaled relative position and pose transformation, the proposed control algorithm not only could be used in the designed heterogeneous master/slave structure, but also could satisfied different operation space requirements with high accuracy. Physical experiments verified the proposed teleoperation system and the proposed master/slave control algorithm. © 2016, Editorial Department of Journal of Sichuan University (Engineering Science Edition). All right reserved.

引用

页码：180 / 185

页数：5

共 20 条

[1]

Vozar S., Leonard S., Kazanzides P., Et al., Experimental evaluation of force control for virtual-fixture-assisted teleoperation for on-orbit manipulation of satellite thermal blanket insulation, 2015 IEEE International Conference on Robotics and Automation(ICRA), pp. 4424-4431, (2015)

[2]

Wilde M., Chua Z.K., Fleischner A., Effects of multivantage point systems on the teleoperation of spacecraft docking, IEEE Transactions on Human-Machine Systems, 44, 2, pp. 200-210, (2014)

[3]

Desbats P., Geffard F., Piolain G., Et al., Force-feedback teleoperation of an industrial robot in a nuclear spent fuel reprocessing plant, Industrial Robot:An International Journal, 33, 3, pp. 178-186, (2006)

[4]

Mukherjee J.K., Fast visualisation technique for view constrained tele-operation in nuclear industry, 2014 International Conference on Information Science and Applications(ICISA), pp. 1-4, (2014)

[5]

Nisky I., Hsieh M.H., Okamura A.M., Uncontrolled manifold analysis of arm joint angle variability during robotic teleoperation and freehand movement of surgeons and novices, IEEE Transactions on Biomedical Engineering, 61, 12, pp. 2869-2881, (2014)

[6]

Pacchierotti C., Abayazid M., Misra S., Et al., Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback, IEEE Transactions on Haptics, 7, 4, pp. 551-556, (2014)

[7]

Mersha A.Y., Stramigioli S., Carloni R., On bilateral teleoperation of aerial robots, IEEE Transactions on Robotics, 30, 1, pp. 258-274, (2014)

[8]

Glas D.F., Kanda T., Ishiguro H., Et al., Teleoperation of multiple social robots, Systems, Man and Cybernetics, Part A:IEEE Transactions on Systems and Humans, 42, 3, pp. 530-544, (2012)

[9]

Nuno E., Basan L., Ortega R., Passivity-based control for bilateral teleoperation:A tutorial, Automatica, 47, 3, pp. 485-495, (2011)

[10]

Rebelo J., Sednaoui T., Den Exter E.B., Et al., Bilateral robot teleoperation:A wearable arm exoskeleton featuring an intuitive user interface, IEEE Robotics & Automation Magazine, 4, 21, pp. 62-69, (2014)

← 1 2 →