Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm with an Identical Twin Master

Singh, Jayant, Srinivasan, Aravinda Ramakrishnan, Neumann, Gerhard and Kucukyilmaz, Ayse (2020) Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm with an Identical Twin Master. IEEE Transactions on Haptics . p. 1. ISSN 1939-1412

Full content URL: https://doi.org/10.1109/TOH.2020.2971485

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Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm with an Identical Twin Master
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Abstract

In this study, we describe two techniques to enable haptic-guided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, recent developments in cobot technologies have brought in affordable, flexible, and safe torque-controlled robot arms, which can be programmed to generate force feedback to mimic the operation of a haptic device. In this study, we use two Franka Emika Panda robot arms as a twin master-slave system to enable haptic-guided teleoperation. We propose a two layer mechanism to implement force feedback due to 1) object interactions in the slave workspace, and 2) virtual forces, e.g. those that can repel from static obstacles in the remote environment or provide task-related guidance forces. We present two different approaches for force rendering and conduct an experimental study to evaluate the performance and usability of these approaches in comparison to teleoperation without haptic guidance. Our results indicate that the proposed joint torque coupling method for rendering task forces improves energy requirements during haptic guided telemanipulation, providing realistic force feedback by accurately matching the slave torque readings at the master side.

Keywords:Force feedback, haptics, haptic-guided manipulation, human-robot collaboration, robotics, telemanipulation, teleoperation
Subjects:H Engineering > H660 Control Systems
H Engineering > H670 Robotics and Cybernetics
H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
ID Code:40137
Deposited On:09 Mar 2020 08:32

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