Trajectory Generation for Assembly Tasks via Bilateral Teleoperation
(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:
https://lup.lub.lu.se/record/6a53bfd1-1303-4c1b-a88e-9ea453a19cf9
- author
- Ghazaei Ardakani, Mahdi
LU
; Cho, Jang Ho
LU
; Johansson, Rolf
LU
and Robertsson, Anders LU
- organization
- publishing date
- 2014
- 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}}, }