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Trajectory Generation for Assembly Tasks Via Bilateral Teleoperation

Ghazaei, Mahdi LU ; Cho, Jang Ho; Johansson, Rolf LU and Robertsson, Anders LU (2014) 19th IFAC World Congress, 2014 In [Host publication title missing] 19(1). p.10230-10235
Abstract (Swedish)
Abstract in Undetermined

For assembly tasks, the knowledge of both trajectory and forces are usually required. Consequently, we may use kinesthetics or teleoperation for recording human demonstrations. In order to have a more natural interaction, the operator has to be provided with a sense of touch. We propose a bilateral teleoperation system which is customized for this purpose. We introduce different coordinate frames to make the design of a 6-DOF teleoperation straightforward. Moreover, we suggest using tele-admittance, which simplifies instructing the robot. The compliance due to the slave controller allows the robot to react quickly and reduces the risk of damaging the workpiece.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
[Host publication title missing]
editor
Boje, Edward and Xia, Xiaohua
volume
19
issue
1
pages
10230 - 10235
publisher
International Federation of Automatic Control
conference name
19th IFAC World Congress, 2014
external identifiers
  • Scopus:84929733567
DOI
10.3182/20140824-6-ZA-1003.02559
language
English
LU publication?
yes
id
396021c6-c9f4-4ec1-9073-d618f6c89975 (old id 5148897)
date added to LUP
2015-03-06 09:34:27
date last changed
2016-10-13 04:39:46
@misc{396021c6-c9f4-4ec1-9073-d618f6c89975,
  abstract     = {<b>Abstract in Undetermined</b><br/><br>
For assembly tasks, the knowledge of both trajectory and forces are usually required. Consequently, we may use kinesthetics or teleoperation for recording human demonstrations. In order to have a more natural interaction, the operator has to be provided with a sense of touch. We propose a bilateral teleoperation system which is customized for this purpose. We introduce different coordinate frames to make the design of a 6-DOF teleoperation straightforward. Moreover, we suggest using tele-admittance, which simplifies instructing the robot. The compliance due to the slave controller allows the robot to react quickly and reduces the risk of damaging the workpiece.},
  author       = {Ghazaei, Mahdi and Cho, Jang Ho and Johansson, Rolf and Robertsson, Anders},
  editor       = {Boje, Edward and Xia, Xiaohua},
  language     = {eng},
  number       = {1},
  pages        = {10230--10235},
  publisher    = {ARRAY(0xae5db90)},
  series       = {[Host publication title missing]},
  title        = {Trajectory Generation for Assembly Tasks Via Bilateral Teleoperation},
  url          = {http://dx.doi.org/10.3182/20140824-6-ZA-1003.02559},
  volume       = {19},
  year         = {2014},
}