Abstract
Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for compliant robot motion is proposed. By using the left hand as the commander and the right hand as a positioner, different operation modes and scaling ratios can be tuned on-the-fly to meet the accuracy and efficiency requirements. Moreover, a vibration-based force feedback system was developed to provide the operator with a telepresence capability. The pick-and-place and peg-in-hole tasks were used to test the effectiveness of the teleoperation system we developed. The experiment results prove that the gesture-based teleoperation system is effective at handling compliant robot motions.
Highlights
With the development of space, ocean and atomic technology, there is an urgent need for robots to work in dangerous, uncertain environments and inaccessible workplaces [1]
This paper proposes a novel gesture-based teleoperation system for compliant robot motion
In order to overcome the limitations of human motion accuracy, resolution and sensor work range, the paper introduces new interaction logic, scalable human-robot motion mapping mechanism and single axis mode to balance teleoperation efficiency and accuracy
Summary
With the development of space, ocean and atomic technology, there is an urgent need for robots to work in dangerous, uncertain environments and inaccessible workplaces [1]. The teleoperation system of robots has received more and more attention. Many robotic tasks (e.g., assembly, grinding, painting, welding, etc.) require precise position and compliance control. They asks the teleoperation systems to achieve precise positional control and to have the function of force feedback. Teleoperation means the operator can remotely control the robot [2,3,4]. The joystick is usually a better control device because it can reflect forces that are experienced at the remote site [6]. The movement range is limited, and the mapping has to be tuned for different robots
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