The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental challenges due to limits in communication delays. The proposed work improves the performances of teleoperation architecture based on Fractal Impedance Controller (FIC) by integrating into the haptic teleoperation pipeline a postural optimisation that also accounts for the replica robots' physical limitations. This update improves dynamic interactions by trading off tracking accuracy to maintain the system within its power limits. Thus, allowing fine manipulation without renouncing the robustness of the FIC controller. Additionally, the proposed method allows an online trade-off between tracking the autonomous trajectory and executing the teleoperated command, allowing their safe superimposition. The validated experimental results show that the proposed method is robust to increased communication delays. Moreover, we demonstrated that the remote teleoperated robot remains stable and safe to interact with, even when the communication with the master side is abruptly interrupted. with, even when the communication with the master side is abruptly interrupted.
翻译:机器人的远程操作使远程干预能够在不使操作员陷入危险的情况下远程进行远程和危险的任务。 但是,远程操作由于通信延误的限制而面临根本性的挑战。 拟议的工作通过将一个也考虑到复制机器人物理限制的外观优化纳入机能式远程操作管道,改善了基于分形障碍控制器的远程操作结构的性能。 这一更新通过交换跟踪准确性以维持系统在电力限度内的动态互动而改善了动态互动。 因此,允许在不放弃FIC控制器的稳健性的情况下进行精细的操纵。 此外,拟议的方法允许在跟踪自主轨迹和执行远程操作指令之间进行在线交换,允许安全超导。 验证的实验结果显示,拟议方法对于增加通信延误是强有力的。 此外,我们证明,即使与主控方的通信突然中断,远程远程操作机器人仍然稳定和安全地与它进行互动。 即便与主控方的通信突然中断, 也允许与主控方的通信中断。