A Gesture-Based Teleoperation System for Compliant Robot Motion

被引：16
|
作者：
Zhang, Wei [1 ]
Cheng, Hongtai [1 ]
Zhao, Liang [1 ]
Hao, Lina [1 ]
Tao, Manli [1 ]
Xiang, Chaoqun [2 ]
机构：
[1] Northeastern Univ, Dept Mech Engn & Automat, Shenyang 110819, Liaoning, Peoples R China
[2] Univ Bristol, SoftLab, Bristol Robot Lab, Bristol BS16 1QY, Avon, England
来源：
APPLIED SCIENCES-BASEL | 2019年 / 9卷 / 24期
关键词：
gesture-based teleoperation; robotic assembly; force feedback; compliant robot motion;
D O I：
10.3390/app9245290
中图分类号：
O6 [化学];
学科分类号：
0703 ;
摘要：
Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for compliant robot motion is proposed. By using the left hand as the commander and the right hand as a positioner, different operation modes and scaling ratios can be tuned on-the-fly to meet the accuracy and efficiency requirements. Moreover, a vibration-based force feedback system was developed to provide the operator with a telepresence capability. The pick-and-place and peg-in-hole tasks were used to test the effectiveness of the teleoperation system we developed. The experiment results prove that the gesture-based teleoperation system is effective at handling compliant robot motions.
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收藏
页数：18
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