A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper

被引:1
作者
Faruk Argin, Omer [1 ]
Kaya, Ozan [2 ]
Yagiz Bayraktaroglu, Zeki [3 ]
Ertugrul, Seniz [4 ]
机构
[1] Univ Lincoln, Lincoln Ctr Autonomous Syst, Lincoln LN6 7TS, England
[2] Istanbul Tech Univ, Dept Mechatron Engn, TR-34467 Istanbul, Turkiye
[3] Istanbul Tech Univ, Dept Mech Engn, TR-34467 Istanbul, Turkiye
[4] Izmir Univ Econ, Dept Mechatron Engn, TR-35330 Izmir, Turkiye
来源
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2023年 / 15卷 / 04期
关键词
teleoperation; haptic guidance; passive compliance; series elastic actuator-based gripper; compliant mechanisms; control; haptic devices; manufacturing; SHARED-CONTROL; DESIGN; ARCHITECTURES; PERFORMANCE; STABILITY;
D O I
10.1115/1.4055570
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This article introduces a haptic-guided teleoperation framework using a series elastic actuator (SEA)-based compliant gripper. The proposed teleoperation system involves one local haptic device, one layer of virtual reality, and one remote industrial manipulator with a compliant gripper. The overall compliance of the teleoperation is distributed between the software and hardware components of the bilateral loop. On the one hand, the implemented haptic guidance is based on an elementary coupling model uniquely defined and established for all interactions among the user, remote manipulator, and virtual interface. On the other hand, the manipulator operating in the remote environment is equipped with a novel compliant gripper based on series elastic actuators, providing passive compliance at the interactions with the environment. Introducing the gripper into the haptic loop is expected to compensate for disturbances due to inaccurate modeling and/or unmodeled dynamics of the remote environment and external effects. The teleoperation system is implemented for manipulation and tracking tasks and tested with different users. Experimental results show that the haptic guidance and the compliant gripper together significantly improve the teleoperation performances in terms of transparency.
引用
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页数:12
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