Teleoperation System of Industrial Articulated Robot Arms by Using Forcefree Control

Recently, network robotics attracts many researchers’ attention and a lot of software and hardware on communication technologies are developed for network robotics (Chong et al., 2003; Rogers, 2001; Sanfeliu et al., 2008; Sheridan, 1995; Stassen, 1997). Teleoperation techniques of robot have been developed for many purposes such as ball catching task (Smith et al., 2008), remote handling of dangerous materials in a nuclear environment (Geeter et al., 1999), undersea operation, explosive material disposals, robot-assisted surgery (Challacombe, 2003; Marohn, 2004; Park, 2006) and manipulation systems for planetary exploration (Nickels et al., 2001). Performance of a variety of elements and factors for the telemanipulation system have been investigated by an experimental study (Mora, 2007) and the Internet based teleoperation systems are also eagerly developed (Bambang, 2008; Slawiñski et al., 2007; You et al., 2001). For a point of view of control, control techniques of teleoperation system have been investigated such as bilateral control (Aziminejad et.al., 2001; Hokayem et al., 2001; Slawiñski et al., 2007) and nonlinear adaptive control (Hung, 2003). Explosively grown network technology and robot technology are inextricable relation and expectation on the network robotics becomes large. In usual teleoperation systems, the operational side and the working side are determined definitely in advance, and the robot in the working side moves according to the command from the operational side. Moreover, in order to operate the robot in the working side, special skill for the operation of the equipment in the operational side is usually required. On the other hand, many kinds of the industrial robot arms have been operated in factories. If these robot arms can be applied both to the operational side and the working side of the teleoperation system, the handleability of the teleoperation system will be remarkably improved. For example, similar mechanism between the operational side and the working side is preferable for intuitive operation of the teleoperation system. In order to realize passive motion of the industrial robot arms, the forcefree control had been proposed (Goto, 2007). The forcefree control realises the passive motion of the robot arm according to the external force under the zero friction and zero gravity condition. Moreover, the forcefree control was expanded to the forcefree control with independent compensation (Goto et al., 2007). With the forcefree control with independent compensation, the robot arm moves passively according to the external force as in the circumstance of the assigned friction, 14

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