Telerobotics, automation, and human supervisory control
Telerobotics, automation, and human supervisory control
Introduction to Robotics
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
Presence: Teleoperators and Virtual Environments
Haptic rendering of complex force fields
EGVE '03 Proceedings of the workshop on Virtual environments 2003
Toward high-fidelity telepresence in space and surgery robotics
Presence: Teleoperators and Virtual Environments - Special section: Advances in interactive multimodal telepresent systems
Discrimination of Virtual Haptic Textures Rendered with Different Update Rates
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Fundamental Limits in the Rendering of Virtual Haptic Textures
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Experimental identification and analysis of the dynamics of a phantom premium 1.5a haptic device
Presence: Teleoperators and Virtual Environments
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects
IEEE Transactions on Robotics
Scaling and eliminating non-contact forces and torques to improve bilateral teleoperation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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Teleoperation has a long history in the robotics community and numerous bilateral teleoperation systems employing manipulators have been proposed in the literature. On the one hand, systems have been designed which employ commercial hardware and hence generally suffer from low update rates and high delays due to restrictions of commercial manipulator controllers and haptic device controllers. On the other hand, bilateral teleoperation systems designed by research institutions often provide only few degrees of freedom. Our 6DoF bilateral teleoperation system, however, combines the amenities of commercial hardware with a high performance distributed control architecture which enables us to achieve update rates of more than 2kHz and delays in the range of only 100µs. This paper focuses on the architecture of our system and demonstrates how to achieve this performance using commercial hardware. Moreover, we show why update rates of more than 1kHz are essential for certain teleoperation tasks. Especially with high approach velocities and stiff environments, high update rates and low delays are key requirements for stability and thus for realistic haptic perception. We present experimental results demonstrating the influence of the update rate on system stability. These results not only highlight the benefits of high update rates but also give hints on how to estimate the update rate necessary to achieve stable teleoperation for a given environment stiffness.