TY - GEN
T1 - Development of Control Mechanism for Safety Enhancement in Bilateral Control Robot Applications
AU - Maheshi Ruwanthika, R. M.
AU - Katsura, Seiichiro
N1 - Funding Information:
Acknowledgment. This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Program (SCOPE), 151203009, 2017.
PY - 2017
Y1 - 2017
N2 - Bilateral control facilitates access with haptic feedback to remote environment through master-slave robots. The technique is applicable for remote assist robots working in human spaces where safety is a must. This paper proposes step by step implementation of safe and comfortable operating mechanism to be used with bilateral control robots. It will protect the object touched by the slave robot. In bilateral control, master operator freely applies force on remote objects via interface devices. This force could exceed object safe force limit and could damage it. Therefore, this paper implements master-slave local safety functions when reaction force from the environment exceeds the predefined force limit. Explicit force control is implemented on the slave side and virtual stiffness control is implemented on the master side during safe mode operation. The state transition from bilateral control to local safety functions causes loss of reaction force experience on the master side. This paper explains the procedure to remove loss of reaction force experience on the master side and how to facilitate continues force increasing with virtual stiffness control. Further proposed method uses bilateral control common mode force servoing property to maintain the master slave connection during local safe mode operation. This study uses sensorless sensing techniques of disturbance observer for robust motion control and reaction force observer for reaction force estimation. The effectiveness of the proposed methods is validated through experiments.
AB - Bilateral control facilitates access with haptic feedback to remote environment through master-slave robots. The technique is applicable for remote assist robots working in human spaces where safety is a must. This paper proposes step by step implementation of safe and comfortable operating mechanism to be used with bilateral control robots. It will protect the object touched by the slave robot. In bilateral control, master operator freely applies force on remote objects via interface devices. This force could exceed object safe force limit and could damage it. Therefore, this paper implements master-slave local safety functions when reaction force from the environment exceeds the predefined force limit. Explicit force control is implemented on the slave side and virtual stiffness control is implemented on the master side during safe mode operation. The state transition from bilateral control to local safety functions causes loss of reaction force experience on the master side. This paper explains the procedure to remove loss of reaction force experience on the master side and how to facilitate continues force increasing with virtual stiffness control. Further proposed method uses bilateral control common mode force servoing property to maintain the master slave connection during local safe mode operation. This study uses sensorless sensing techniques of disturbance observer for robust motion control and reaction force observer for reaction force estimation. The effectiveness of the proposed methods is validated through experiments.
KW - Bilateral control
KW - Disturbance observer
KW - Force control
KW - Master-slave
KW - Object safety
KW - Reaction force observer
KW - State transition
KW - Virtual stiffness control
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U2 - 10.1007/978-3-319-70022-9_60
DO - 10.1007/978-3-319-70022-9_60
M3 - Conference contribution
AN - SCOPUS:85035792679
SN - 9783319700212
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 607
EP - 617
BT - Social Robotics - 9th International Conference, ICSR 2017, Proceedings
A2 - Suzuki, Kenji
A2 - He, Hongsheng
A2 - Kheddar, Abderrahmane
A2 - Yoshida, Eiichi
A2 - Eyssel, Friederike
A2 - Ge, Shuzhi Sam
A2 - Cabibihan, John-John
PB - Springer Verlag
T2 - 9th International Conference on Social Robotics, ICSR 2017
Y2 - 22 November 2017 through 24 November 2017
ER -