Haptic based teleoperation with master-slave motion mapping and haptic rendering for space exploration
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摘要
This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.
This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.
This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.
引文
1.Rank M,Shi Z,Muller HJ,Hirche S.Predictive communication quality control in haptic teleoperation with time delay and packet loss.IEEE Trans Hum-Mach Syst 2016;46(4):581-92.
2.Jiang ZN,Liu H,Wang J,Huang JB.Virtual reality-based teleoperation with robustness against modeling errors.Chin JAeronaut 2009;22(3):325-33.
3.Chan L,Naghdy F,Stirling D.Application of adaptive controllers in teleoperation systems:A survey.IEEE Trans Hum-Mach Syst2014;44(3):337-52.
4.Hirche S,Buss M.Human-oriented control for haptic teleoperation.Proc IEEE 2012;100(3):623-47.
5.Steinbach E,Hirche S,Ernst M,et al.Haptic communications.Proc IEEE 2012;100(4):937-56.
6.Huang P,Dai P,Lu Z,Liu Z.Asymmetric wave variable compensation method in dual-master-dual-slave multilateral teleoperation system.Mechatronics 2018;49:1-10.
7.Tahmasebi AM,Taati B,Mobasser F,Hashtrudi-Zaad K.Dynamic parameter identification and analysis of a PHANToMhaptic device.Proceedings of the IEEE international conference on control applications;2005 Aug 28-31;Toronto,ON,Canada;2005.
8.Jarillo-Silva A,Dominguez-Ramirez OA,Parra-Vega V,OrdazOliver JP.PHANToM OMNI haptic device:Kinematic and manipulability.CERMA 2009-Electronics Robotics and Automotive Mechanics Conference;2009 Sep 22-25;Cuernavaca,Morelos,Mexico;2009.
9.Garrec P,Friconneau J-P,Louveaux F.Virtuose 6D:A new forcecontrol master arm using innovative ball-screw actuators.ISR2004:35th international symposium on robotics;2004 Mar 23-26;Villepinte,Paris-Nord,France;2004.
10.Lee CD,Lawrence DA,Pao LY.Isotropic force control for haptic interfaces.Control Eng Pract 2004;12(11):1423-36.
11.Stocco LJ,Salcudean SE,Sassani F.Optimal kinematic design of a haptic pen.IEEE/ASME Trans Mechatron 2001;6(3):210-20.
12.Vu MH,Na UJ.A new 6-DOF haptic device for teleoperation of6-DOF serial robots.IEEE Trans Instrum Meas 2011;60(11):3510-23.
13.Ueberle M,Mock N,Buss M.VISHARD10,a novel hyperredundant haptic interface.Proceedings-12th international symposium on haptic interfaces for virtual environment and teleoperator systems,HAPTICS;2004 Mar 27-28;Chicago,IL,United States;2004.
14.Sakaguchi M,Furusho J,Takesue N.Passive force display using ER brakes and its control experiments.Proceedings-virtual reality annual international symposium;2001 Mar 13-17;Yokohama,Japan;2001.
15.Senkal D,Gurocak H.Haptic joystick with hybrid actuator using air muscles and spherical MR-brake.Mechatronics 2011;21(6):951-60.
16.Kobayashi H,Nakamura H.A scaled teleoperation.Proceedings IEEE international workshop on robot and human communication;1992 Sep 1-3;Tokyo,Japan;1992.
17.Itoh T,Kosuge K,Fukuda T.Human-machine cooperative telemanipulation with motion and force scaling using taskoriented virtual tool dynamics.IEEE Trans Robotics Automation2000;16(5):505-16.
18.Chotiprayanakul P,Liu DK.Workspace mapping and force control for small haptic device based robot teleoperation.2009IEEE international conference on information and automation,ICIA 2009;2009 Jun 22-25;Zhuhai,Macau,China;2009.
19.Munoz LM,Casals A.Dynamic scaling interface for assisted teleoperation.Proceedings-IEEE international conference on robotics and automation;2012 May 14-18;Saint Paul,MN,Saint Paul,MN,United States;2012.
20.Dominjon L,Perret J,Le′cuyer A.Novel devices and interaction techniques for human-scale haptics.Visual Computer 2007;23(4):257-66.
21.Conti F,Khatib O.Spanning large workspaces using small haptic devices.Proceedings-1st Joint Eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems;world haptics conference,WHC 2005;2005 Mar 18-20;Pisa,Italy;2005.
22.Perez A,Rosell J.An assisted re-synchronization method for robotic teleoperated tasks.Proceedings-IEEE international conference on robotics and automation;2011 May 9-13;Shanghai,China;2011.
23.Hirzinger G,Brunner B,Dietrich J,Heindl J.Sensor-based space robotics-ROTEX and its telerobotic features.IEEE Trans Robotics Automation 1993;9(5):649-61.
24.Horan B,Nahavandi S.Intuitive haptic control surface for mobile robot motion control.Proceedings of the 2008 IEEE international workshop on safety,security and rescue robotics,SSRR 2008;2008Nov 21-24;Sendai,Japan;2008.
25.Lu Z,Huang P,Liu Z.Predictive approach for sensorless bimanual teleoperation under random time delays with adaptive fuzzy control.IEEE Trans Ind Electron 2018;65(3):2439-48.
26.Gibo TL,Bastian AJ,Okamura AM.Grip force control during virtual object interaction:Effect of force feedback,accuracy demands,and training.IEEE Trans Haptic 2014;7(1):37-47.
27.Westebring-Van Der Putten EP,Van Den Dobbelsteen JJ,Goossens RHM,Jakimowicz JJ,Dankelman J.The effect of augmented feedback on grasp force in laparoscopic grasp control.IEEE Trans Haptic 2010;3(4):280-91.
28.Romano JM,Hsiao K,Niemeyer G,Chitta S,Kuchenbecker KJ.Human-inspired robotic grasp control with tactile sensing.IEEETrans Rob 2011;27(6):1067-79.
29.Brown JD,Paek A,Syed M,O’Malley MK,Shewokis PA,Contreras-Vidal JL,et al.Understanding the role of haptic feedback in a teleoperated/prosthetic grasp and lift task.2013world haptics conference,WHC 2013;2013 Apr 14-17;Daejeon,South Korea;2013.
30.Howe Robert D.Task performance with a dexterous teleoperated hand system.Proc Spie Telemanipulator Technol1992;1833:199-207.
31.Lii NY,Chen Z,Pleintinger B,Borst CH,Hirzinger G,Schiele A.Toward understanding the effects of visual-and force-feedback on robotic hand grasping performance for space teleoperation.IEEE/RSJ 2010 international conference on intelligent robots and systems,IROS 2010-conference proceedings;2010 Oct 18-22;2010.
32.Lu Z,Huang P,Dai P,Liu Z,Meng Z.Enhanced transparency dual-user shared control teleoperation architecture with multiple adaptive dominance factors.Int J Control Autom Syst 2017;15(5):2301-12.
33.Liu G,Wang Y,Zhang Y,Zheng X.Real-time solution of the forward kinematics for a parallel haptic device using a numerical approach based on neural networks.J Mech Sci Technol 2015;29(6):2487-99.
34.Asada H,Granito J.Kinematic and static characterization of wrist joints and their optimal design.Proceedings 1985 IEEE international conference on robotics and automation;1985 Mar 25-28;St.Louis,MO,USA;1985.
35.Gosselin CM,Hamel J-F.Agile eye:A high-performance threedegree-of-freedom camera-orienting device.Proceedings-IEEEinternational conference on robotics and automation;1994 May 8-13;San Diego,CA,USA;1994.
36.Malosio M,Negri SP,Pedrocchi N,Vicentini F,Caimmi M,Molinari TL.A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation.Proceedings of the annual international conference of the IEEE engineering in medicine and biology society,EMBS;2012 Aug 28-Sep 1;San Diego,CA,United States;2012.
37.Birglen L,Gosselin C,Pouliot N,Monsarrat B,Laliberte T.SHaDe,a new 3-DOF haptic device.IEEE Trans Robotics Automation 2002;18(2):166-75.
38.Gosselin CM,Sefrioui J,Richard MJ.On the direct kinematics of spherical three-degree-of-freedom parallel manipulators of general architecture.J Mech Design,Trans ASME 1994;116(2):594-8.
39.Ottaviano E,Gosselin CM,Ceccarelli M.Singularity analysis of CaPaMan:A three-degree of freedom spatial parallel manipulator.Proceedings-IEEE international conference on robotics and automation;2001 May 21-26;Seoul,Korea;2001.
40.Long GL,Collins CL.A pantograph linkage parallel platform master hand controller for force-reflection.Proceedings-IEEEinternational conference on robotics and automation;1992 May 12-14;Nice,France;1992.
41.Liu L,Liu G,Zhang Y,Wang D.A modified motion mapping method for haptic device based space teleoperation.ProceedingsIEEE international workshop on robot and human interactive communication;2014 Aug 25-29;Edinburgh,United Kingdom;2014.
42.Hubbard GS.Humans and robots:hand in grip.Acta Astronaut2005;57(2):649-60.
43.Zhao Z,Huang P,Lu Z,Liu Z.Augmented reality for enhancing tele-robotic system with force feedback.Rob Auton Syst2017;96:93-101.
44.Zhou J,Zhou J,Jiang Z,Li H.Investigation into pilot handling qualities in teleoperation rendezvous and docking with time delay.Chin J Aeronaut 2012;25(4):622-30.
45.Hunt KH,Crossley FRE.Coefficient of restitution interpreted as damping in vibroimpact.J Appl Mech 1975;42(2):440-5.
46.Diolaiti N,Melchiorri C,Stramigioli S.Contact impedance estimation for robotic systems.IEEE Trans Rob 2005;21(5):925-35.
2.Jiang ZN,Liu H,Wang J,Huang JB.Virtual reality-based teleoperation with robustness against modeling errors.Chin JAeronaut 2009;22(3):325-33.
3.Chan L,Naghdy F,Stirling D.Application of adaptive controllers in teleoperation systems:A survey.IEEE Trans Hum-Mach Syst2014;44(3):337-52.
4.Hirche S,Buss M.Human-oriented control for haptic teleoperation.Proc IEEE 2012;100(3):623-47.
5.Steinbach E,Hirche S,Ernst M,et al.Haptic communications.Proc IEEE 2012;100(4):937-56.
6.Huang P,Dai P,Lu Z,Liu Z.Asymmetric wave variable compensation method in dual-master-dual-slave multilateral teleoperation system.Mechatronics 2018;49:1-10.
7.Tahmasebi AM,Taati B,Mobasser F,Hashtrudi-Zaad K.Dynamic parameter identification and analysis of a PHANToMhaptic device.Proceedings of the IEEE international conference on control applications;2005 Aug 28-31;Toronto,ON,Canada;2005.
8.Jarillo-Silva A,Dominguez-Ramirez OA,Parra-Vega V,OrdazOliver JP.PHANToM OMNI haptic device:Kinematic and manipulability.CERMA 2009-Electronics Robotics and Automotive Mechanics Conference;2009 Sep 22-25;Cuernavaca,Morelos,Mexico;2009.
9.Garrec P,Friconneau J-P,Louveaux F.Virtuose 6D:A new forcecontrol master arm using innovative ball-screw actuators.ISR2004:35th international symposium on robotics;2004 Mar 23-26;Villepinte,Paris-Nord,France;2004.
10.Lee CD,Lawrence DA,Pao LY.Isotropic force control for haptic interfaces.Control Eng Pract 2004;12(11):1423-36.
11.Stocco LJ,Salcudean SE,Sassani F.Optimal kinematic design of a haptic pen.IEEE/ASME Trans Mechatron 2001;6(3):210-20.
12.Vu MH,Na UJ.A new 6-DOF haptic device for teleoperation of6-DOF serial robots.IEEE Trans Instrum Meas 2011;60(11):3510-23.
13.Ueberle M,Mock N,Buss M.VISHARD10,a novel hyperredundant haptic interface.Proceedings-12th international symposium on haptic interfaces for virtual environment and teleoperator systems,HAPTICS;2004 Mar 27-28;Chicago,IL,United States;2004.
14.Sakaguchi M,Furusho J,Takesue N.Passive force display using ER brakes and its control experiments.Proceedings-virtual reality annual international symposium;2001 Mar 13-17;Yokohama,Japan;2001.
15.Senkal D,Gurocak H.Haptic joystick with hybrid actuator using air muscles and spherical MR-brake.Mechatronics 2011;21(6):951-60.
16.Kobayashi H,Nakamura H.A scaled teleoperation.Proceedings IEEE international workshop on robot and human communication;1992 Sep 1-3;Tokyo,Japan;1992.
17.Itoh T,Kosuge K,Fukuda T.Human-machine cooperative telemanipulation with motion and force scaling using taskoriented virtual tool dynamics.IEEE Trans Robotics Automation2000;16(5):505-16.
18.Chotiprayanakul P,Liu DK.Workspace mapping and force control for small haptic device based robot teleoperation.2009IEEE international conference on information and automation,ICIA 2009;2009 Jun 22-25;Zhuhai,Macau,China;2009.
19.Munoz LM,Casals A.Dynamic scaling interface for assisted teleoperation.Proceedings-IEEE international conference on robotics and automation;2012 May 14-18;Saint Paul,MN,Saint Paul,MN,United States;2012.
20.Dominjon L,Perret J,Le′cuyer A.Novel devices and interaction techniques for human-scale haptics.Visual Computer 2007;23(4):257-66.
21.Conti F,Khatib O.Spanning large workspaces using small haptic devices.Proceedings-1st Joint Eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems;world haptics conference,WHC 2005;2005 Mar 18-20;Pisa,Italy;2005.
22.Perez A,Rosell J.An assisted re-synchronization method for robotic teleoperated tasks.Proceedings-IEEE international conference on robotics and automation;2011 May 9-13;Shanghai,China;2011.
23.Hirzinger G,Brunner B,Dietrich J,Heindl J.Sensor-based space robotics-ROTEX and its telerobotic features.IEEE Trans Robotics Automation 1993;9(5):649-61.
24.Horan B,Nahavandi S.Intuitive haptic control surface for mobile robot motion control.Proceedings of the 2008 IEEE international workshop on safety,security and rescue robotics,SSRR 2008;2008Nov 21-24;Sendai,Japan;2008.
25.Lu Z,Huang P,Liu Z.Predictive approach for sensorless bimanual teleoperation under random time delays with adaptive fuzzy control.IEEE Trans Ind Electron 2018;65(3):2439-48.
26.Gibo TL,Bastian AJ,Okamura AM.Grip force control during virtual object interaction:Effect of force feedback,accuracy demands,and training.IEEE Trans Haptic 2014;7(1):37-47.
27.Westebring-Van Der Putten EP,Van Den Dobbelsteen JJ,Goossens RHM,Jakimowicz JJ,Dankelman J.The effect of augmented feedback on grasp force in laparoscopic grasp control.IEEE Trans Haptic 2010;3(4):280-91.
28.Romano JM,Hsiao K,Niemeyer G,Chitta S,Kuchenbecker KJ.Human-inspired robotic grasp control with tactile sensing.IEEETrans Rob 2011;27(6):1067-79.
29.Brown JD,Paek A,Syed M,O’Malley MK,Shewokis PA,Contreras-Vidal JL,et al.Understanding the role of haptic feedback in a teleoperated/prosthetic grasp and lift task.2013world haptics conference,WHC 2013;2013 Apr 14-17;Daejeon,South Korea;2013.
30.Howe Robert D.Task performance with a dexterous teleoperated hand system.Proc Spie Telemanipulator Technol1992;1833:199-207.
31.Lii NY,Chen Z,Pleintinger B,Borst CH,Hirzinger G,Schiele A.Toward understanding the effects of visual-and force-feedback on robotic hand grasping performance for space teleoperation.IEEE/RSJ 2010 international conference on intelligent robots and systems,IROS 2010-conference proceedings;2010 Oct 18-22;2010.
32.Lu Z,Huang P,Dai P,Liu Z,Meng Z.Enhanced transparency dual-user shared control teleoperation architecture with multiple adaptive dominance factors.Int J Control Autom Syst 2017;15(5):2301-12.
33.Liu G,Wang Y,Zhang Y,Zheng X.Real-time solution of the forward kinematics for a parallel haptic device using a numerical approach based on neural networks.J Mech Sci Technol 2015;29(6):2487-99.
34.Asada H,Granito J.Kinematic and static characterization of wrist joints and their optimal design.Proceedings 1985 IEEE international conference on robotics and automation;1985 Mar 25-28;St.Louis,MO,USA;1985.
35.Gosselin CM,Hamel J-F.Agile eye:A high-performance threedegree-of-freedom camera-orienting device.Proceedings-IEEEinternational conference on robotics and automation;1994 May 8-13;San Diego,CA,USA;1994.
36.Malosio M,Negri SP,Pedrocchi N,Vicentini F,Caimmi M,Molinari TL.A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation.Proceedings of the annual international conference of the IEEE engineering in medicine and biology society,EMBS;2012 Aug 28-Sep 1;San Diego,CA,United States;2012.
37.Birglen L,Gosselin C,Pouliot N,Monsarrat B,Laliberte T.SHaDe,a new 3-DOF haptic device.IEEE Trans Robotics Automation 2002;18(2):166-75.
38.Gosselin CM,Sefrioui J,Richard MJ.On the direct kinematics of spherical three-degree-of-freedom parallel manipulators of general architecture.J Mech Design,Trans ASME 1994;116(2):594-8.
39.Ottaviano E,Gosselin CM,Ceccarelli M.Singularity analysis of CaPaMan:A three-degree of freedom spatial parallel manipulator.Proceedings-IEEE international conference on robotics and automation;2001 May 21-26;Seoul,Korea;2001.
40.Long GL,Collins CL.A pantograph linkage parallel platform master hand controller for force-reflection.Proceedings-IEEEinternational conference on robotics and automation;1992 May 12-14;Nice,France;1992.
41.Liu L,Liu G,Zhang Y,Wang D.A modified motion mapping method for haptic device based space teleoperation.ProceedingsIEEE international workshop on robot and human interactive communication;2014 Aug 25-29;Edinburgh,United Kingdom;2014.
42.Hubbard GS.Humans and robots:hand in grip.Acta Astronaut2005;57(2):649-60.
43.Zhao Z,Huang P,Lu Z,Liu Z.Augmented reality for enhancing tele-robotic system with force feedback.Rob Auton Syst2017;96:93-101.
44.Zhou J,Zhou J,Jiang Z,Li H.Investigation into pilot handling qualities in teleoperation rendezvous and docking with time delay.Chin J Aeronaut 2012;25(4):622-30.
45.Hunt KH,Crossley FRE.Coefficient of restitution interpreted as damping in vibroimpact.J Appl Mech 1975;42(2):440-5.
46.Diolaiti N,Melchiorri C,Stramigioli S.Contact impedance estimation for robotic systems.IEEE Trans Rob 2005;21(5):925-35.