Description of instantaneous restriction space for multi-DOFs bilateral teleoperation systems using position sensors in unstructured environments

  • Authors:

  • Keehoon Kim;Wan Kyun Chung;M. Cenk Çavusoǧlu

  • Affiliations:

  • Korea Institute of Science and Technology, Seoul, Korea;Pohang University of Science and Technology, Pohang, Korea;Case Western Reserve University, Cleveland, OH

  • Venue:
  • IEEE Transactions on Robotics
  • Year:
  • 2009

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Abstract

This paper investigates a novel position-sensor-based force reflection framework for multi-degree-of-freedom (DOF) bilateral teleoperation systems in unstructured environments. The conventional position-sensor-based force reflection method, which is known as position error feedback, may generate grossly inaccurate force reflection directions during collisions involving the slave manipulator links. The proposed restriction space projection framework calculates the instantaneous restriction space to provide the accurate force reflection, regardless of kinematic dissimilarity (KDS) conditions of bilateral teleoperation systems. Simulation results confirmed the validity of the proposed framework in a KDS bilateral teleoperation system under various constraint conditions.