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 delay and bandwidth. The proposed work improves the performances of teleoperation architecture based on Fractal Impedance Controller (FIC), by integrating the most recent manipulation architecture in the haptic teleoperation pipeline. The updated controller takes advantage of the inverse kinematics optimisation in the manipulation, and hence improves dynamic interactions during fine manipulation without renouncing the robustness of the FIC controller. Additionally, the proposed method allows an online trade-off between the manipulation controller and the teleoperated behaviour, allowing a safe superimposition of these two behaviours. The validated experimental results show that the proposed method is robust to reduced communication bandwidth and 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.
翻译:机器人的远程操作能够远程干预遥远和危险的任务,而不会让操作者陷入危险。然而,远程操作由于通信延迟和带宽的限制而面临根本性的挑战。拟议的工作通过将最新的操纵结构纳入机能性能操作管道,改善了基于分形障碍控制器(FIC)的远程操作结构的性能。更新的控制器在操作过程中利用反动动学优化,从而在精细操作期间改进动态互动,同时又不放弃FIC控制器的坚固性。此外,拟议的方法允许操作控制器与远程操作行为之间的在线交换,允许安全地对这两种行为进行超置。经过验证的实验结果显示,拟议方法非常健全,可以减少通信带宽和延迟。此外,我们证明远程远程操作机器人仍然稳定和安全地与它互动,即使与主控器方的通信突然中断。