In this work, a human motion intention prediction method based on an autoregressive (AR) model for teleoperation is developed. Based method, the robot's trajectory can be updated in real time through updating parameters of AR model. teleoperated control loop, virtual force defined to describe interaction profile and correct time. The proposed algorithm acts as feedforward update revise process human–robot (HRI). convergence analyzed theoretically. Comparative studies demonstrate enhanced...

This article proposes a method for single-leader–dual-follower teleoperation, where one robot (direct-follower robot, DFR) is directly teleoperated and the other (assisting-follower AFR) can autonomously cooperate with DFR to hold move deformable object, contact force regulated desired value. Since AFR does not know its partner's movement, first, it achieves position alignment by using force. Second, we develop an adaptive movement estimation algorithm according Lyapunov theory, such that...

This article provides solutions for a single-leader–dual-follower teleoperation system to collaboratively transport an object. First, regulate the direct-teleoperated follower robot (DFR), we employ relative pose transformation algorithm, based on "refixing" leader and DFR together, enable that operator can ergonomically guide without requiring any specific initial position, ensuring higher precision at same time. Second, assistive (AFR), provide efficient technique acquire correct...

Abstract Disturbance observer (DOB) based controller performs well in estimating and compensating for perturbation when the external or internal unknown disturbance is slowly time varying. However, to some extent, robot manipulators usually work complex environment with high-frequency disturbance. Thereby, enhance tracking performance a teleoperation system, only traditional DOB technique insufficient. In this paper, purpose of constructing feasible scheme, we develop novel that contains...

Bimanual robots have been studied for decades and regulation on internal force of the being held object by two manipulators becomes a research interest in recent years. In this paper, based impedance model, method to obtain optimal target position bimanual hold an is proposed. We introduce cost function combining errors manage minimize its value gain coordinates robot end effectors (EE). To implement method, necessary algorithms are presented, which closed-loop inverse kinematics (CLIK) work...

Precise leader-follower control is critical for teleop- eration. This paper designs and implements a low-cost leader device unilateral teleoperation scenario. Monocular vision based on fiducial markers MEMS Inertial Measurement Unit (IMU) are utilized to constitute the pose sensing system of handheld device. To increase positioning output frequency deal with motion blur markers, IMU data message fused by an Error State Kalman Filter (ESKF). An assembly experiment was carried out verify...

Robot teleoperation attracts growing attention of researchers in many domains. Plenty factors contribute to the good performance a smart system, and one crucial factor is that it provides an environmental feedback for operator. Hence, this paper, we offer solution help operator perceive contact force tele-robot. In addition, introduce strategy cooperatively teleoperate two follower robots by using only single leader <sup xmlns:mml="http://www.w3.org/1998/Math/MathML"...

With the advent of intelligent manufacturing,industrial robots have been widely used, e.g., application grinding significantly improve efficiency and quality. This paper proposes an improved projection method for creating paths on complex 3D surface workpiece. It "wraps" a 2D plane with traces it onto target surface, then become curves where are trajectory maintain major features raw traces. A depth camera is utilized to obtain point cloud workpiece which filtered segmented. After estimating...

This paper proposes a whole-body learning from demonstration (LfD) framework that enables differential drive mobile manipulators to learn coordination working and disturbance rejection. First, an efficient kinesthetic teaching method is devised based on the weighted least-norm (WLN) inverse kinematics solution admittance controller, which facilitates human users guide manipulator perform tasks. Second, we propose LfD through Gaussian Process, endows manipulator's skill process with features...