Description of Instantaneous Restriction Space for Multi Degrees-of-Freedom Bilateral Teleoperation Systems Using Position Sensors in Unstructured Environments
نویسندگان
چکیده
This paper investigates a novel position sensor based force reflection framework for multi degrees-of-freedom bilateral teleoperation systems in unstructured environments. The conventional position sensor based force reflection method, known as position error feedback, may generate grossly inaccurate force reflection directions during collisions involving the slave manipulator links. The proposed restriction space projection framework calculates the instantaneous restriction space to provide the accurate force reflection regardless of kinematic dissimilarity conditions of bilateral teleoperation systems. Three examples address how to apply the proposed framework to diverse bilateral teleoperation systems. Simulation results confirmed the validity of the proposed framework in a kinematically dissimilar bilateral teleoperation system under various constraint conditions.
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