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Trajectory Generation for Assembly Tasks Via Bilateral Teleoperation

Ghazaei, Mahdi LU ; Cho, Jang Ho ; Johansson, Rolf LU orcid and Robertsson, Anders LU (2014) 19th IFAC World Congress, 2014 19(1). p.10230-10235
Abstract
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
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Preprints of the 19th World Congress of the International Federation of Automatic Control (IFAC2014), Cape Town, South Africa. August 24-29, 2014
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
conference location
Cape Town, South Africa
conference dates
2014-08-24 - 2014-08-29
external identifiers
  • scopus:84929733567
DOI
10.3182/20140824-6-ZA-1003.02559
project
LCCC
LU Robotics Laboratory
language
English
LU publication?
yes
additional info
key=mahdi_etal_ifac14 month=08
id
396021c6-c9f4-4ec1-9073-d618f6c89975 (old id 5148897)
date added to LUP
2016-04-04 10:23:28
date last changed
2021-10-06 04:12:44
@inproceedings{396021c6-c9f4-4ec1-9073-d618f6c89975,
  abstract     = {Abstract in Undetermined<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},
  booktitle    = {Preprints of the 19th World Congress of the International Federation of Automatic Control (IFAC2014), Cape Town, South Africa. August 24-29, 2014},
  editor       = {Boje, Edward and Xia, Xiaohua},
  language     = {eng},
  number       = {1},
  pages        = {10230--10235},
  publisher    = {International Federation of Automatic Control},
  title        = {Trajectory Generation for Assembly Tasks Via Bilateral Teleoperation},
  url          = {https://lup.lub.lu.se/search/files/5527545/8053863.pdf},
  doi          = {10.3182/20140824-6-ZA-1003.02559},
  volume       = {19},
  year         = {2014},
}