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Trajectory Generation for Assembly Tasks Via Bilateral Teleoperation

In English

Författare

Redaktör

  • Edward Boje
  • Xiaohua Xia

Summary, in English

Abstract in Undetermined
For assembly tasks, the knowledge of both trajectory and forces are usually required. Consequently, we may use kinesthetics or teleoperation for recording human demonstrations. In order to have a more natural interaction, the operator has to be provided with a sense of touch. We propose a bilateral teleoperation system which is customized for this purpose. We introduce different coordinate frames to make the design of a 6-DOF teleoperation straightforward. Moreover, we suggest using tele-admittance, which simplifies instructing the robot. The compliance due to the slave controller allows the robot to react quickly and reduces the risk of damaging the workpiece.

Publiceringsår

2014

Språk

Engelska

Sidor

10230-10235

Publikation/Tidskrift/Serie

Preprints of the 19th World Congress of the International Federation of Automatic Control (IFAC2014), Cape Town, South Africa. August 24-29, 2014

Volym

19

Issue

1

Dokumenttyp

Konferensbidrag

Förlag

International Federation of Automatic Control

Ämne

  • Control Engineering
  • Robotics

Conference name

19th IFAC World Congress, 2014

Conference date

2014-08-24 - 2014-08-29

Conference place

Cape Town, South Africa

Status

Published

Projekt

  • LCCC
  • LU Robotics Laboratory

Forskningsgrupp

  • LCCC