Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Trajectory Generation for Assembly Tasks via Bilateral Teleoperation

Ghazaei Ardakani, Mahdi LU ; Cho, Jang Ho LU ; Johansson, Rolf LU orcid and Robertsson, Anders LU (2014) In IFAC-PapersOnLine 47(3). p.10230-10235
Abstract
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
Contribution to journal
publication status
published
subject
in
IFAC-PapersOnLine
volume
47
issue
3
pages
6 pages
publisher
IFAC Secretariat
ISSN
2405-8963
DOI
10.3182/20140824-6-ZA-1003.02559
project
RobotLab LTH
LCCC
language
English
LU publication?
yes
id
6a53bfd1-1303-4c1b-a88e-9ea453a19cf9
date added to LUP
2022-06-01 21:30:25
date last changed
2023-05-10 14:03:08
@article{6a53bfd1-1303-4c1b-a88e-9ea453a19cf9,
  abstract     = {{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 Ardakani, Mahdi and Cho, Jang Ho and Johansson, Rolf and Robertsson, Anders}},
  issn         = {{2405-8963}},
  language     = {{eng}},
  number       = {{3}},
  pages        = {{10230--10235}},
  publisher    = {{IFAC Secretariat}},
  series       = {{IFAC-PapersOnLine}},
  title        = {{Trajectory Generation for Assembly Tasks via Bilateral Teleoperation}},
  url          = {{http://dx.doi.org/10.3182/20140824-6-ZA-1003.02559}},
  doi          = {{10.3182/20140824-6-ZA-1003.02559}},
  volume       = {{47}},
  year         = {{2014}},
}