Improving Efficiency and Safety in Teleoperated Robotic Manipulators using Motion Scaling and Force Feedback

Abstract

Recent surges in global construction spending are driving the need for safer, more efficient construction methods. One potential way of improving construction methods is to provide user interfaces that allow human operators to control machinery in a more intuitive and strategic manner. This paper explores the use of motion scaling and haptic feedback to improve task completion speed and force control during construction-related teleoperated robotic manipulation tasks.In this study, we design a bench-top Teleoperated Motion Scaling Robotic Arm (TMSRA) platform that allows the human operator to control the motion-mapping rate between the master (haptic console) and slave (robotic excavator) devices, while also providing force feedback and virtual safety functions to help prevent excessive force application by the slave device. We experimentally evaluated the impact of motion scaling and force feedback on human users' ability to perform simulated construction tasks. Experimental results from simulated robotic excavation and demolition tasks show that the maximum force applied to fictive buried utilities was reduced by 77.67% and 76.36% respectively due to the force feedback and safety function. Experimental results from simulated payload pushing/sliding tasks demonstrate that the provision of user- controlled motion scaling increases task efficiency, reducing completion times by at least 31.41%, and as much as 47.76%.