Projects per year
Abstract
Abstract in Undetermined
For assembly tasks, the knowledge of both trajectory and forces are usually required. Consequently, we may use kinesthetics or teleoperation for recording human demonstrations. In order to have a more natural interaction, the operator has to be provided with a sense of touch. We propose a bilateral teleoperation system which is customized for this purpose. We introduce different coordinate frames to make the design of a 6-DOF teleoperation straightforward. Moreover, we suggest using tele-admittance, which simplifies instructing the robot. The compliance due to the slave controller allows the robot to react quickly and reduces the risk of damaging the workpiece.
For assembly tasks, the knowledge of both trajectory and forces are usually required. Consequently, we may use kinesthetics or teleoperation for recording human demonstrations. In order to have a more natural interaction, the operator has to be provided with a sense of touch. We propose a bilateral teleoperation system which is customized for this purpose. We introduce different coordinate frames to make the design of a 6-DOF teleoperation straightforward. Moreover, we suggest using tele-admittance, which simplifies instructing the robot. The compliance due to the slave controller allows the robot to react quickly and reduces the risk of damaging the workpiece.
| Original language | English |
|---|---|
| Title of host publication | Preprints of the 19th World Congress of the International Federation of Automatic Control (IFAC2014), Cape Town, South Africa. August 24-29, 2014 |
| Editors | Edward Boje, Xiaohua Xia |
| Publisher | International Federation of Automatic Control |
| Pages | 10230-10235 |
| Volume | 19 |
| DOIs | |
| Publication status | Published - 2014 |
| Event | 19th IFAC World Congress, 2014 - Cape Town, South Africa Duration: 2014 Aug 24 → 2014 Aug 29 Conference number: 19 |
Publication series
| Name | |
|---|---|
| Number | 1 |
| Volume | 19 |
Conference
| Conference | 19th IFAC World Congress, 2014 |
|---|---|
| Country/Territory | South Africa |
| City | Cape Town |
| Period | 2014/08/24 → 2014/08/29 |
Bibliographical note
key=mahdi_etal_ifac14month=08
Subject classification (UKÄ)
- Control Engineering
- Robotics
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RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research
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LCCC
Holmqvist, A. (Researcher), Andersson, N. (Researcher), Cervin, A. (Researcher), Mannesson, A. (Researcher), Gattami, A. (Researcher), Ghulchak, A. (Researcher), Papadopoulos, A. V. (Researcher), Rantzer, A. (Researcher), Robertsson, A. (Researcher), Sootla, A. (Researcher), THEORIN, A. (Researcher), Bernhardsson, B. (Researcher), Olofsson, B. (Researcher), Wittenmark, B. (Researcher), Grussler, C. (Researcher), Johnsson, C. (Researcher), MADJIDIAN, D. (Researcher), Johannesson, E. (Researcher), Magnusson, F. (Researcher), Ståhl, F. (Researcher), Como, G. (Researcher), Chasparis, G. (Researcher), Turesson, G. (Researcher), Dressler, I. (Researcher), Åkesson, J. (Researcher), Cho, J. H. (Researcher), Årzén, K.-E. (Researcher), Åström, K. J. (Researcher), Sou, K. C. (Researcher), Mårtensson, K. (Researcher), Berntorp, K. (Researcher), Soltesz, K. (Researcher), Lessard, L. (Researcher), Hast, M. (Researcher), Rönn, M. (Researcher), Ansbjerg Kjær, M. (Researcher), Maggio, M. (Researcher), Kristalny, M. (Researcher), Garpinger, O. (Researcher), From, P. J. (Researcher), Larsson, P.-O. (Researcher), Giselsson, P. (Researcher), Johansson, R. (Researcher), Hägglund, T. (Researcher), Vladimerou, V. (Researcher), Romero Segovia, V. (Researcher), Aurelius, A. (Researcher), Cedersjö, G. (Researcher), Bür, K. (Researcher), Dellkrantz, M. (Researcher), Du, M. (Researcher), Amani, P. (Researcher), Larsson, R. (Researcher), Tärneberg, W. (Research student), Li, Z. (Researcher), Yin, L. (Researcher), Tufvesson, F. (Researcher), Höst, S. (Researcher), Nilsson, B. (Researcher), Stenström, S. (Researcher), Andersson, J. A. (Researcher), Diehl, S. (Researcher), Dürango, J. (Researcher), Ghazaei Ardakani, M. (Researcher), Forsberg, P.-O. (Researcher), Bengtsson, F. (Researcher), Jörntell, H. (Researcher), Arévalo, C. (Researcher), Führer, C. (Researcher), Andersson, C. (Researcher), Mohammadi, F. (Researcher), Ödling, P. (Researcher), Andersson, M. (Researcher), Kihl, M. (Researcher) & Tunestål, P. (Researcher)
2008/07/01 → 2018/06/30
Project: Research
Equipment
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RobotLab LTH Infrastructure
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
Faculty of Engineering, LTHInfrastructure