Singh, J, Srinivasan, AR orcid.org/0000-0001-9280-7837, Neumann, G et al. (1 more author) (2020) Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm With an Identical Twin Master. IEEE Transactions on Haptics, 13 (1). pp. 246-252. ISSN 1939-1412
Abstract
In this article, we describe two techniques to enable haptic-guided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, recent developments in cobot technologies have brought in affordable, flexible, and safe torque-controlled robot arms, which can be programmed to generate force feedback to mimic the operation of a haptic device. In this article, we use two Franka Emika Panda robot arms as a twin master-slave system to enable haptic-guided teleoperation. We propose a two layer mechanism to implement force feedback due to 1) object interactions in the slave workspace, and 2) virtual forces, e.g. those that can repel from static obstacles in the remote environment or provide task-related guidance forces. We present two different approaches for force rendering and conduct an experimental study to evaluate the performance and usability of these approaches in comparison to teleoperation without haptic guidance. Our results indicate that the proposed joint torque coupling method for rendering task forces improves energy requirements during haptic guided telemanipulation, providing realistic force feedback by accurately matching the slave torque readings at the master side.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Task analysis , Force feedback , Manipulators , Torque , Force |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Environment (Leeds) > Institute for Transport Studies (Leeds) > ITS: Safety and Technology (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 23 Jun 2020 10:33 |
Last Modified: | 23 Jun 2020 10:33 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Identification Number: | 10.1109/toh.2020.2971485 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:162138 |