Proceedings of the
9th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2022)
15 – 18 November 2022, Singapore
doi:10.3850/978-981-18-6021-8_OR-02-0118
Impedance-Controlled Teleoperation With Haptic Feedback for Robotic Manipulation
1School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
2Schaeffler Hub for Advanced Research, Nanyang Technological University, Singapore
ABSTRACT
Teleoperation is a method of remotely operating systems without being in their close physical proximity. This is a widely used approach in Learning from Demonstration (Lfd) paradigms where a task is demonstrated to a robot by a human operator. In this work, we implement a master-slave teleoperated robotic system whereby the user physically guides the master, which in turn controls a slave robot remotely to perform a desired action. The slave robot follows the master in the configuration space by virtue of an impedance control implemented via virtual elastic coupling. While the master remotely controls the slave, the force of interaction sensed by the slave is fed-back to the master side such that haptic feedback is always available to the user. Furthermore, to assist the human in manipulating the robot against the inertia and damping due to the power transmission, an assistive control is implemented on the master side. A reduction in the applied force by the user on the master side is observed which is backed by experimental analysis.
Keywords: Teleoperation, master-slave robots, impedance control, haptic feedback, assistive control.
1School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
2Schaeffler Hub for Advanced Research, Nanyang Technological University, Singapore
ABSTRACT
Teleoperation is a method of remotely operating systems without being in their close physical proximity. This is a widely used approach in Learning from Demonstration (Lfd) paradigms where a task is demonstrated to a robot by a human operator. In this work, we implement a master-slave teleoperated robotic system whereby the user physically guides the master, which in turn controls a slave robot remotely to perform a desired action. The slave robot follows the master in the configuration space by virtue of an impedance control implemented via virtual elastic coupling. While the master remotely controls the slave, the force of interaction sensed by the slave is fed-back to the master side such that haptic feedback is always available to the user. Furthermore, to assist the human in manipulating the robot against the inertia and damping due to the power transmission, an assistive control is implemented on the master side. A reduction in the applied force by the user on the master side is observed which is backed by experimental analysis.
Keywords: Teleoperation, master-slave robots, impedance control, haptic feedback, assistive control.
