Trajectory Generation for Assembly Tasks Via Bilateral Teleoperation
(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:
https://lup.lub.lu.se/record/5148897
- author
- Ghazaei, Mahdi
LU
; Cho, Jang Ho
; Johansson, Rolf
LU
and Robertsson, Anders LU
- organization
- publishing date
- 2014
- 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
- RobotLab LTH
- 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
- 2024-02-28 15:37:00
@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}}, }