A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects

doi:10.1109/JAS.2022.105626

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	A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects
	Jinfei Hu; Zheng Chen; Xin Ma; Han Lai; Bin Yao
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:6 页码:1015-1025
关键词	Adaptive robust control teleoperation telepresence transparency weight estimation
ISSN号	2329-9266
DOI	10.1109/JAS.2022.105626
英文摘要	Currently, most teleoperation work is focusing on scenarios where slave robots interact with unknown environments. However, in some fields such as medical robots or rescue robots, the other typical teleoperation application is precise object transportation. Generally, the object’s weight is unknown yet essential for both accurate control of the slave robot and intuitive perception of the human operator. However, due to high cost and limited installation space, it is unreliable to employ a force sensor to directly measure the weight. Therefore, in this paper, a control scheme free of force sensor is proposed for teleoperation robots to transfer a weight-unknown object accurately. In this scheme, the workspace mapping between master and slave robot is firstly established, based on which, the operator can generate command trajectory on-line by operating the master robot. Then, a slave controller is designed to follow the master command closely and estimate the object’s weight rapidly, accurately and robust to unmodeled uncertainties. Finally, for the sake of telepresence, a master controller is designed to generate force feedback to reproduce the estimated weight of the object. In the end, comparative experiments show that the proposed scheme can achieve better control accuracy and telepresence, with accurate force feedback generated in only 500 ms.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47569]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Jinfei Hu,Zheng Chen,Xin Ma,et al. A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(6):1015-1025.
APA	Jinfei Hu,Zheng Chen,Xin Ma,Han Lai,&Bin Yao.(2022).A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects.IEEE/CAA Journal of Automatica Sinica,9(6),1015-1025.
MLA	Jinfei Hu,et al."A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects".IEEE/CAA Journal of Automatica Sinica 9.6(2022):1015-1025.