We developed the robotic arm for a master-slave system to support “mutual telexistence,” which realizes close physical communication with other people using gestures and remote dexterous manipulation tasks. In this paper, we describe the specifications of the experimental setup of the master-slave arm for demonstration of the feasibility of the mutual telexistence concept. We developed the mast...

This paper presents a novel teleoperation scheme to control a PUMA robotic manipulator with a Phantom haptic device. Using local force control at the slave robot, contact with soft and hard surfaces is attained with high performance. The control design inserts a virtual spring between the master and slave control systems to generate the desired forces. The closed loop performance is increased b...

This paper presents a controller for whole-arm obstacle avoidance for the slave robot in an unilateral teleoperated robotic system. The slave controller is free of robot inverse kinematics model, and it is conformed of two parts. First a cartesian PID controller is used to render closed loop system stability. The second controller part is the on-line solution of a dynamic optimization problem. ...

Previous bone fusion surgery by surgeon has three major difficulties: lack of operation accuracy, surgeon's overexposure to radioactive contamination, and need of surgeon's intensive labor during operation. This paper proposes a bilateral teleoperation system for spine bone fusion surgery, BiTESS-II, to overcome those problems. In order to determine design specification of the system, we estima...

It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is based on a cyclic switching algorithm. In the first phase of the cyclic algorithm, we estimate the en...

In human-robot cooperative control systems, force feedback is often necessary in order to achieve high precision and high stability. Usually, traditional robot assistant systems implement force feedback using force/torque sensors. However, it is difficult to directly mount a mechanical force sensor on some working terminals, such as in applications of minimally invasive robotic surgery, microma...

We implement a reliable robot control system for performing maintenance/repairing in nuclear power plant. Systems entered in extreme environments should have high reliability, since their failures cause much longer maintenance time. Our system is designed to have a threelevel hierarchical structure – slave/master/supervisory controllers – by considering the degree of radiation hazard. The slave...

This paper proposes an enhanced mapping of multi-robot using a DSIFT to reduce the mapping calculation time. In this approach, the master robot transmits each robot’s mapping information in SLAM by DSIFT, which incorporates an additional step on the SIFT. The DSIFT uses a keypoint to reduce the distortional information throughout the Gaussian filter after the step of the image descriptor. The m...

TAMPERE UNIVERSITY OF TECHNOLOGY Master’s Degree Programme in Machine Automation CABRERA, RIGOBERTO: Application of an industrial robot in master-slave teleoperation with haptic interface. Master of Science Thesis, 52 pages, 2 Appendix pages May 2010 Major subject: Hydraulic Vehicle Engineering Examiners: Prof. Matti Vilenius MSc. Ali Muhammad