Abstract
High dexterity is required in tasks in which there is contact between objects, such as surface conditioning (wiping, polishing, scuffing, sanding, etc.), specially when the location of the objects involved is unknown or highly inaccurate because they are moving, like a car body in automotive industry lines. These applications require the human adaptability and the robot accuracy. However, sharing the same workspace is not possible in most cases due to safety issues. Hence, a multi-modal teleoperation system combining haptics and an inertial motion capture system is introduced in this work. The human operator gets the sense of touch thanks to haptic feedback, whereas using the motion capture device allows more naturalistic movements. Visual feedback assistance is also introduced to enhance immersion. A Baxter dual-arm robot is used to offer more flexibility and manoeuvrability, allowing to perform two independent operations simultaneously. Several tests have been carried out to assess the proposed system. As it is shown by the experimental results, the task duration is reduced and the overall performance improves thanks to the proposed teleoperation method.
Highlights
Robotic manipulators are traditionally used to execute fixed and repetitive tasks [1]
Several benchmark metrics are analysed and the results indicate that the use of combined modalities led to improve the performance on the task, as measured by time to complete the task, accuracy of movements and erasing coverage
Based on the results obtained in the experimentation carried out in this work, it can be concluded that the proposed dualarm robot teleoperation system using inertial motion capture with haptic feedback assistance can be useful to apply to surface conditioning tasks
Summary
Robotic manipulators are traditionally used to execute fixed and repetitive tasks [1]. Some tasks are difficult to be programmed beforehand, because they require fine dexterity in manipulation, are context dependent or change overtime To overcome these challenges, a human agent may be used to perform the task via operation of the robotic arm. Because of the redundant degrees of freedom of most robotic arms and the difficulty in precisely controlling the end-effector’s pose over time, a common approach for human operation of robotic manipulators is through physically holding it and moving it in the desired way. This is usually facilitated by a “zero-gravity mode”, through which, after compensating the effects of gravity, the arm does not present resistance to forces externally applied
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