Paper Info
Title
Scaling and eliminating non-contact forces and torques to improve bilateral teleoperation
Abstract
In bilateral teleoperation, the operator experiences forces and torques applied to the slave manipulator. These forces and torques, however, consist of two components: on the one hand, forces and torques due to contacts with the environment, and on the other hand, non-contact forces, i.e., inertial forces, centrifugal forces, Coriolis forces, and associated torques. For several reasons, eliminating these non-contact forces and torques from the force-torque measurements of the slave or scaling them can be advantageous. For instance, in highly-dynamic teleoperation tasks, these forces and torques may contribute to operator fatigue or hamper the detection of contacts with the environment. This paper briefly reviews the estimation of inertial parameters of the slave load, e.g., an end-effector or a gripper. Subsequently, a method for eliminating the non-contact forces and torques from the measurements of a wrist-mounted force-torque sensor or scaling them is presented. After a brief overview of our teleoperation system, experimental results are presented which demonstrate the effectiveness of our approach.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354021
IROS
Keywords
Field
DocType
slave load,non-contact force,force-torque measurement,inertial force,teleoperation system,inertial parameter,bilateral teleoperation,highly-dynamic teleoperation task,slave manipulator,operator experiences force,coriolis force,end effectors
Inertial frame of reference,Teleoperation,Centrifugal force,Torque,Computer science,Control theory,Control engineering,Robot end effector,Fictitious force,Resultant force,Non-contact force
Conference
Citations 
PageRank 
References 
0
0.34
17
Authors
2
Name
Order
Citations
PageRank
Daniel Kubus1489.02
Friedrich M. Wahl2794186.93