Description of Instantaneous Restriction Space for Multi-DOFs Bilateral Teleoperation Systems Using Position Sensors in Unstructured Environments
- Resource Type
- Periodical
- Authors
- Kim, K.; Chung, W. K.; Cavusoglu, M. C.
- Source
- IEEE Transactions on Robotics IEEE Trans. Robot. Robotics, IEEE Transactions on. 25(5):1150-1158 Oct, 2009
- Subject
- Robotics and Control Systems
Computing and Processing
Components, Circuits, Devices and Systems
Sensor phenomena and characterization
Sensor systems
Force sensors
Reflection
Educational technology
Force feedback
Robot sensing systems
Master-slave
Research and development
Materials science and technology
Bilateral teleoperation system
haptic interface
instantaneous restriction space (IRS)
obstacle avoidance
restriction space projection (RSP)
- Language
- ISSN
- 1552-3098
1941-0468
This paper investigates a novel position-sensor-based force reflection framework for multi-degree-of-freedom (DOF) bilateral teleoperation systems in unstructured environments. The conventional position-sensor-based force reflection method, which is known as position error feedback, may generate grossly inaccurate force reflection directions during collisions involving the slave manipulator links. The proposed restriction space projection framework calculates the instantaneous restriction space to provide the accurate force reflection, regardless of kinematic dissimilarity (KDS) conditions of bilateral teleoperation systems. Simulation results confirmed the validity of the proposed framework in a KDS bilateral teleoperation system under various constraint conditions.