首页|Findings from University of Macau Update Knowledge of Robotics (Design and Devel opment of a Teleoperated Telepresence Robot System With High-fidelity Haptic Fee dback Assistance)
Findings from University of Macau Update Knowledge of Robotics (Design and Devel opment of a Teleoperated Telepresence Robot System With High-fidelity Haptic Fee dback Assistance)
扫码查看
点击上方二维码区域，可以放大扫码查看
原文链接
NETL
NSTL
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators publish new report on Ro botics. According to news reporting out of Macau, People's Republic of China, by NewsRx editors, research stated, "This paper proposes a new teleoperated telepr esence robot system with high-fidelity haptic feedback for interaction work, suc h as pre-operation of explosive ordnance disposal (EOD). The system includes a m aster device and a slave collaborative robot." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). Our news journalists obtained a quote from the research from the University of M acau, "The master device enables the human operator to feel the operation proced ure when performing the environmental interaction task. The system's kinematics and dynamics models are derived, laying the foundation for the control scheme de sign. To meet the requirements of EOD missions, a hybrid motion mapping method i ncluding position-velocity (PV) and position-position (PP) mapping modes is pres ented to achieve a balance between working efficiency and manipulation accuracy. A hybrid haptic force rendering method is introduced to facilitate the human's feeling of the interacting force and control the slave robot in PP and PV mappin g modes, respectively. Experimental results reveal that the developed system exh ibits good position and velocity tracking performance with root-mean-square (RMS ) errors of 0.004 m and 0.007 m/s, respectively. The haptic tracking is realized with an RMS force error of 0.14 N. Moreover, the developed system can improve t he EOD working efficiency by 10.7% with accurate operation while e nsuring the fidelity of the haptic feedback to feel the contact process. The rep orted telepresence robot system provides a promising solution to delicate remote interaction operations. Note to Practitioners-Teleoperated robotic systems are commonly utilized to perform hazardous tasks such as EOD tasks. However, the exi sting EOD robots controlled by the joystick have limited dexterity. Moreover, vi sual feedback alone cannot provide enough telepresence for an operator, which le ads to low efficiency. This paper proposes a new teleoperated robot system with high-fidelity haptic feedback assistance intended for EOD tasks. The system inte grates the motion mapping method that combines PP and PV modes to improve the wo rking efficiency while maintaining manipulation accuracy. The haptic sensations feedback can switch the rendering mode according to different control modes. The haptic feedback mechanism enables the operators to feel reliable contact under PP mapping mode and ensures safety and stability under PV mapping mode."
MacauPeople's Republic of ChinaAsiaEmerging TechnologiesMachine LearningRobotRoboticsRobotsUniversity of Macau
NETL
NSTL
