Abstract
The article describes the manual control system of robot arm using the joystick with magnetorheological brakes, during which the operator observed the robot work with the use of cameras. The construction of the investigations stand, system kinematics and control algorithm were described. In the final part of the article the results of scientific research for the two control variants: the classical one and with force feedback one were discussed and compared.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ahmadkhanlou, F.: Design, modeling and control of magnetorheological fluid-based force feedback dampers for telerobotic systems. Master thesis, Ohio State University, Columbia (2008)
Bachman, P., Milecki, A.: MR haptic joystick in control of virtual servo drive. J. Phys.: Conf. Ser. 149 (2009)
Bardorfer, A., Munih, M.: Connecting haptic interface with a robot. In: Melecon 2000 10th Mediteranean Electrotechnical Conference, Cyprus (2000)
Basañez, L., Rosell, J., Palomo, L., Nuño, E., Portilla, H.: A framework for robotized teleoperated tasks. In: ROBOT 2011 Robótica Experimental, Sevilla, España (2011)
Bruder, J., Klimentjew, D., Zhang, J.: Haptic interactive telerobotics control architecture with iterative solving of inverse kinematics. In: Proceedings of the 2011 IEEE International Conference on Robotis and Biomimetrics, Phuket, Thailand (2011)
Chciuk, M., Milecki, A., Myszkowski, A.: Applications of magnetorheological brakes in manual control of lifting devices and manipulators. J. Phys.: Conf. Ser. 149 (2009)
Chotiprayanakul, P., Wang, D., Kwok, N., Liu, D.: A haptic base human robot interaction approach for robotic grit blasting. In: Proceedings of the International Symposium on Automation and Robotics in Construction, Vilnius (2008)
Kim, D., Oh, K.W., Hong, D., Park, J.H.: Remote control of excavator with designed haptic device. In: Control, Automation and Systems, ICCAS 2008 (2008)
Fumagalli, M.: Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors. Springer Theses. Springer International Publishing, Switzerland (2014). Ph.D. thesis, Department of Informatics, Systems and Telecommunication, University of Genoa
Gawłowicz. P., Chciuk, M., Bachman, P.: Robot sterowany trzyosiowym dżojstikiem dotykowym z cieczą magnetoreologiczną. Pomiary Automatyka Robotyka (2), 703–709 (2009)
Gorinevsky, D., Formalsky, A., Schneider, A.: Force Control of Robotic Systems. Taylor & Francis, Milton Park (1997)
Howe, R.D., Debus, T., Dupont, P.: Haptic identification of remote environment properties. In: SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Boston (1998)
León, B., Morales, A., Sancho-Bru, J.: From Robot to Human Grasping Simulation. Springer, Heidelberg (2014)
Kim, M., Yoon, S.-S., Kang, S., Kim, S.-J., Kim, Y.-H., Yim, H.-S., Lee, C.-D., Yeo, I.-T.: Safe arm design for service robot. In: Proceedings of the Second IARP-IEEE/RAS Joint Workshop on Technical Challenge for Dependable Robots in Human Environments, Toulouse, France, pp. 88–95 (2002)
Marchese, A., Hoyt, H.: Force sensing and haptic feedback for robotic telesurgery. Worcester Polytechnic Institute (2010)
O’Malley, M.K., Gupta, A.: HCI: beyond the GUI. In: Haptic Interfaces. Morgan-Kaufmann (2007)
Kontz, M.E.: Haptic control of hydraulic machinery. G.W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, December 2007
Milecki, A., Bachman, P., Chciuk, M.: Control of a small robot by haptic joystick with magnetorheological fluid. In: 7th International Conference on Mechatronic Systems and Materials, MSM 2011, Kauno Technologijos Universitetas (2011)
Milecki, A., Owczarek, P., Rybarczyk, D., Sędziak, D., Raba, B.: Nowoczesne metody sterowania urządzeniami mechatronicznymi z napędami elektrohydraulicznymi. Wydawnictwo Politechniki Poznańskiej (2014)
Mishima, M., Kawasaki, H., Mouri, T., Endo, T.: Haptic teleoperation of humanoid robot hand using three-dimensional force feedback. In: Proceeding of the 9th International Symposium on Robot Control (SYROCO 2009) the International Federation of Automatic Control Nagaragawa Convention Center, Gifu, Japan (2009)
Miyashita, T., Tajika, T., Ishiguro, H., Kogure, K., Hagita, N.: Haptic communication between humans and robots. In: Thrun, S., Brooks, R., Durrant-Whyt, H. (eds.) Robotics Research, vol. 28, pp. 525–536. Springer, Heidelberg (2007)
Owczarek, P., Rybarczyk, D., Sędziak, D., Kašpárek, M.: HMI with vision system to control manipulator by operator hand movement. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds.) Progress in Automation, Robotics and Measuring Techniques. AISC, vol. 351, pp. 201–209. Springer, Heidelberg (2015). doi:10.1007/978-3-319-15847-1_20
Radi, M., Reinhart, G.: Industrial haptic robot guidance system for assembly processes. In: IEEE International Workshop on Haptic Audio Visual Environments and Games, Lecco, pp. 69–74 (2009)
Rozo, L., Jiménez, P., Torras, C.: Learning force-based robot skills from haptic demonstration. Frontiers in Artificial Intelligence and Applications, vol. 220, pp. 331–340. Artificial Intelligence Research and Development (2010)
Takamuku, S., G´omez, G., Hosoda, K., Pfeifer, R.: Haptic discrimination of material properties by a robotic hand. In: IEEE 6th International Conference on Development and Learning (ICDL 2007), London (2007)
Horie, T., Abe, N., Tanaka, K., Taki, H.: Controlling two remote robot arms with direct instruction using hapticmaster and vision system. In: VSMM 2000: 6th International Conference on Virtual Systems and MultiMedia, Japan (2000)
Zhengyi, Y., Chen, Y.: Haptic rendering of milling. Mechanical Engineering Department, The University of Hong Kong, Hong Kong, China
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Chciuk, M., Milecki, A., Bachman, P. (2017). Comparison of a Traditional Control and a Force Feedback Control of the Robot Arm During Teleoperation. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2017. ICA 2017. Advances in Intelligent Systems and Computing, vol 550. Springer, Cham. https://doi.org/10.1007/978-3-319-54042-9_25
Download citation
DOI: https://doi.org/10.1007/978-3-319-54042-9_25
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-54041-2
Online ISBN: 978-3-319-54042-9
eBook Packages: EngineeringEngineering (R0)