Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures

We present a novel bilateral telemanipulation control system called Pseudo-admittance, which is designed to mimic admittance con trol on systems where the master is an impedance-type robot. Desirable system properties include steady-hand tremor attenuation and quasi-static transparency. The controller can also be modified to include virtual fixtures that provide guidance, while leaving ultimate control of the system with the operator. The properties of the system are verified through simulations and experiments. Pseudo-admittance control has potential benefits for tasks that require better-than-human levels of precision, as well as with systems which are typically run under rate control. Guidance virtual fixtures could be used as task macros – potentially increasing both speed and precision on structured tasks that require direct human control.

[1]  John J. Craig,et al.  Introduction to robotics - mechanics and control (2. ed.) , 1989 .

[2]  Wayne J. Book,et al.  Position/Rate Haptic Control of a Hydraulic Forklift , 2003 .

[3]  J. Edward Colgate,et al.  Issues in the haptic display of tool use , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[4]  Probal Mitra,et al.  Dynamic proxy objects in haptic simulations , 2004, IEEE Conference on Robotics, Automation and Mechatronics, 2004..

[5]  Louis L. Whitcomb,et al.  Adaptive force control of position/velocity controlled robots: theory and experiment , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[6]  Robert L. Williams,et al.  NATURALLY-TRANSITIONING RATE-TO-FORCE CONTROL IN FREE AND CONSTRAINED MOTION , 1999 .

[7]  Lawrence W. Stark,et al.  A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics , 1987, IEEE Journal on Robotics and Automation.

[8]  Gregory D. Hager,et al.  Vision-assisted control for manipulation using virtual fixtures , 2001, IEEE Transactions on Robotics.

[9]  Gregory D. Hager,et al.  Steady-hand teleoperation with virtual fixtures , 2003, The 12th IEEE International Workshop on Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003..

[10]  Francis L. Merat,et al.  Introduction to robotics: Mechanics and control , 1987, IEEE J. Robotics Autom..

[11]  Frank Tendick,et al.  A Critical Study of the Mechanical and Electrical Properties of the PHANToM Haptic Interface and Improvements for Highperformance Control , 2002, Presence: Teleoperators & Virtual Environments.

[12]  Hong Z. Tan,et al.  FORCE-DIRECTION DISCRIMINATION IS NOT INFLUENCED BY REFERENCE FORCE DIRECTION (Short Paper) , 2006 .

[13]  Allison M. Okamura,et al.  Haptic Virtual Fixtures for Robot-Assisted Manipulation , 2005, ISRR.

[14]  Ming Zhu,et al.  Coordinated and Force-Feedback Control of Hydraulic Excavators , 1995, ISER.

[15]  Shumin Zhai,et al.  Human performance evaluation of manipulation schemes in virtual environments , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.

[16]  S. Shankar Sastry,et al.  Adaptive Control of Mechanical Manipulators , 1987 .

[17]  John T. Wen,et al.  Autonomous suturing using minimally invasive surgical robots , 2000, Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162).

[18]  Oussama Khatib,et al.  The haptic display of complex graphical environments , 1997, SIGGRAPH.

[19]  Martin Buss,et al.  A control algorithm and preliminary user studies for a bone drilling medical training system , 2003, The 12th IEEE International Workshop on Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003..

[20]  Keyvan Hashtrudi-Zaad,et al.  Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[21]  Charles R. Johnson,et al.  Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.

[22]  John Kenneth Salisbury,et al.  A constraint-based god-object method for haptic display , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[23]  Septimiu E. Salcudean,et al.  Application of force feedback to heavy duty hydraulic machines , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[24]  Josep Amat,et al.  Workspace deformation based teleoperation for the increase of movement precision , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[25]  Gabor Fichtinger,et al.  Virtual Remote Center of Motion control for needle placement robots , 2003, MICCAI.

[26]  Alain Micaelli,et al.  Decoupling control based on virtual mechanisms for telemanipulation , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[27]  Septimiu E. Salcudean,et al.  Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators , 2001, Int. J. Robotics Res..

[28]  Allison M. Okamura,et al.  Virtual fixtures for bilateral telemanipulation , 2006 .

[29]  Ève Coste-Manière,et al.  Haptically augmented teleoperation , 2000, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[30]  Franz Aurenhammer,et al.  Handbook of Computational Geometry , 2000 .

[31]  Blake Hannaford,et al.  Stable haptic interaction with virtual environments , 1999, IEEE Trans. Robotics Autom..

[32]  J. Edward Colgate,et al.  Cobot implementation of virtual paths and 3D virtual surfaces , 2003, IEEE Trans. Robotics Autom..