Trajectory Generation for Assembly Tasks Via Bilateral Teleoperation

Summary, in English

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.

• Author: Mahdi Ghazaei; Jang Ho Cho; Rolf Johansson; Anders Robertsson
• Editor: Edward Boje; Xiaohua Xia
• Department/s: Department of Automatic Control; ELLIIT: the Linköping-Lund initiative on IT and mobile communication
• Publishing year: 2014
• Language: English
• Pages: 10230-10235
• Publication/Series: Preprints of the 19th World Congress of the International Federation of Automatic Control (IFAC2014), Cape Town, South Africa. August 24-29, 2014
• Volume: 19
• Issue: 1
• Full text: - 624 kB; Download statistics
• Links: http://dx.doi.org/10.3182/20140824-6-ZA-1003.02559
• Document type: Conference paper
• Publisher: International Federation of Automatic Control
• Topic: Control Engineering; Robotics
• Conference name: 19th IFAC World Congress, 2014
• Conference date: 2014-08-24 - 2014-08-29
• Conference place: Cape Town, South Africa
• Status: Published
• Project: LCCC; LU Robotics Laboratory
• Research group: LCCC