Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

Juan Manuel Ibarra-Zannatha,Claudia Marmolejo-Rivas,Salvador Cobos-Guzmán,Rafael Aracil-Santonja,Manuel Ferre-Pérez

doi:10.1080/11762320701848746

Juan Manuel Ibarra-Zannatha, Claudia Marmolejo-Rivas + Show 3 more

Open Access

https://doi.org/10.1080/11762320701848746

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Abstract

The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

Highlights

Teleoperation extends user presence into remote or hazardous environments, for it allows users to control machines at large distances through a person–machine interface
This system is constituted by the 6 DoF haptic device, the electronic system and the virtual environment
The electronic system used to control and communicate the haptic device is based on a DSP – TMS320F2812 from Texas Instruments, whose principal technical characteristic are r r r a calculating power of 150 MIPS–150 MHz, 256 KB memory, communication ports SPI, CAN and USB

Summary

Introduction

Teleoperation extends user presence into remote or hazardous environments, for it allows users to control machines at large distances through a person–machine interface. Tough three components are essential: a master robot operated by the user, a slave robot to perform contact tasks at a remote location and a computerised electronic interface to control and communicate mechanical parts. When force is directly provided to users by means of the master, teleoperation systems are bilaterally controlled (Hannaford 1989). In a typical bilateral teleoperation system, the master robot is used to enhance the force and the reach of the user, the slave robot is a big and powerful machine when compared with the former (Khatib et al 2004, Turro et al 2001, Kheddar et al 2007). Stable haptic interactions with deformable objects is a challenging task (Barbagli et al 2005), for they reach very high levels of computa-

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