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Single Master Bimanual Teleoperation System with Efficient Regulation
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-0334-2554
(English)Article in journal (Refereed) Accepted
Abstract [en]

This paper proposes a new single master bimanualteleoperation (SMBT) system with an efficient position, orientationand force regulation strategy. Unlike many existingstudies that solely support motion synchronization, the firstcontribution of the proposed work is to propose a solution fororientation regulation when several slave robots have differingmotions. In other words, we propose a solution for self-regulatedorientation for dual-arm robots. A second contribution in thepaper allows the master with fewer degrees of freedom to controlthe slaves (with higher degrees of freedom), while the orientationof the slaves is self-regulated. The system further offers a novelforce regulation that enables the slave robots to have a smoothand balanced robot-environment interaction with proper forcedirections. Finally, the proposed approach provides adequateforce feedback about the environment to the operator and assiststhe operator in identifying different motion situations of theslaves. Our approach demonstrates that the forces from the slaveswill not interrupt the operator’s perception of the environment.To validate the proposed system, experiments are conducted usinga platform consisting of two 7-Degree of Freedom (DoF) slaverobots and one 3-DoF master haptic device. The experimentsdemonstrated good results in terms of position, orientation andforce regulation.

National Category
Robotics
Identifiers
URN: urn:nbn:se:oru:diva-79866DOI: 10.1109/TRO.2020.2973099OAI: oai:DiVA.org:oru-79866DiVA, id: diva2:1392600
Available from: 2020-02-08 Created: 2020-02-08 Last updated: 2020-02-08

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