Pseudo-admittance bilateral telemanipulation with guidance virtual fixtures

International Journal of Robotics Research

Volumn 26, Issue 8, 2007, Pages 865-884

  Abbott, Jake J ^a,b   Okamura, Allison M ^a  

^a Johns Hopkins University   (United States)

^b ETH ZURICH   (Switzerland)

Author keywords

Admittance control; Motion scaling; Proxy; Rate control; Teleoperation; Telerobotics; Virtual mechanism

Indexed keywords

ADMITTANCE CONTROL; ADMITTANCE DYNAMICS; RATE CONTROL; TELEROBOTICS;

CLIENT SERVER COMPUTER SYSTEMS; MACROS; MANIPULATORS; MOTION PLANNING; REMOTE CONTROL; VIRTUAL REALITY;

ROBOTICS;

EID: 34547171638     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364907080425     Document Type: Article

References (33)

1. Abbott, J.J. (2005). Virtual Fixtures for Bilateral Telemanipulation. PhD Dissertation, Department of Mechanical Engineering, The Johns Hopkins University.
2. Abbott, J.J., Marayong, P., and Okamura, A.M. (2007). Haptic virtual fixtures for robot-assisted manipulation. Robotics Research: Results of the 12th International Symposium ISRR (2005). pp. 4964.
3. Abbott, J.J. and Okamura, A.M. (2003). Steady-hand teleoperation with virtual fixtures. Proceedings of IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN), pp. 145151.
4. Abbott, J.J. and Okamura, A.M. (2006). Stable forbidden-region virtual fixtures for bilateral telemanipulation. ASME Journal on Dynamic Systems, Measurement, and Control, 128 (1). 53 64.
5. Adams, R.J. and Hannaford, B. (1999). Stable haptic interaction with virtual environments. IEEE Transactions on Robotics and Automation, 15 (3). 465 474.
6. Bettini, A., Marayong P., Lang, S., Okamura, A.M., and Hager, G.D. (2004). Vision-assisted control for manipulation using virtual fixtures. IEEE Transactions on Robotics 20 (6). 953 966.
7. Boctor, E., Webster, R.J. III, Mathieu, H., Okamura, A.M., and Fichtinger, G. (2004). Virtual remote center of motion control for needle placement robots. Computer-aided Surgery, 9 (5). 175 183.
8. Casals, A., Munoz, L., and Amat, J. 2003. Workspace deformation based teleoperation for the increase of movement precision. Proceedings of IEEE International Conference on Robotics and Automation, pp. 28242829.
9. avuolu, M.C., Feygin, D., and Tendick, F. (2002). A critical study of the mechanical and electrical properties of the PHANToM haptic interface and improvements for high-performance control. Presence, 11 (6). 555 568.
10. Colgate, J.E., Stanley, M.C., and Brown, J.M. (1995). Issues in the haptic display of tool use. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.140145.
11. Craig, J.J., Hsu, P., and Sastry, S.S. (1987). Adaptive control of mechanical manipulators. International Journal of Robotics Research, 6 (2). 16 28.
12. Craig, J.J. (1989). Introduction to Robotics: Mechanics and Control, 2 nd edn. Addison Wesley, Reading, MA.
13. Esen, H., Yano, K., and Buss, M. (2003). A control algorithm and preliminary user studies for a bone drilling medical training system. Proceedings of IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN), pp. 153158.
14. Hashtrudi-Zaad, K. and Salcudean, S.E. (2001). Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators. International Journal of Robotics Research, 20 (6). 419 445.
15. Horn, R. and Johnson, C.R. (1985). Matrix Analysis. Cambridge University Press, Cambridge.
16. Kang, H. and Wen, J.T. (2000). Autonomous suturing using minimally invasive surgical robots. Proceedings of IEEE International Conference on Robotics and Automation, pp. 742747.
17. Kim, W.S., Tendick, F., Ellis, S.R., and Stark, L.W. (1987). A comparison of position and rate control for telemanipulators with consideration of manipulator system dynamics. IEEE Journal of Robotics and Automation, RA-3 (5). 426 436.
18. Kontz, M.E. and Book, W.J. (2003). Position/rate haptic control of a hydraulic forklift. Proceedings of ASME International Mechanical Engineering Congress and Exposition, pp. 801808.
19. Lawrence, P.D., Salcudean, S.E., Sepehri, N., Chan, D., Bachmann, S., Parker, N., et al. (1995). Coordinated and force-feedback control of hydraulic excavators. Lecture Notes in Control and Information Sciences, Vol. 223, 4th International Symposium on Experimental Robotics, pp. 181194, Springer-Verlag, London.
20. Micaelli, A., Bidard, C., and Andriot, C. 1998. Decoupling control based on virtual mechanisms for telemanipulation. In Proc. IEEE International Conference Robotics and Automation, pp. 19241931.
21. Mitra, P. and Niemeyer, G. (2004). Dynamic proxy objects in haptic simulations. In Proceedings of IEEE International Conference on Robotics, Automation, and Mechatronics, pp. 10541059.
22. Mobasser, F. and Hashtrudi-Zaad, K. (2004). Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system. Proceedings of IEEE International Conference on Robotics and Automation, pp. 19741979.
23. Moore, C.A., Peshkin, M.A., and Colgate, J.E. (2003). Cobot implementation of virtual paths and 3-D virtual surfaces. IEEE Transactions on Robotics and Automation, 19 (2). 347 351.
24. Parker, N.R., Salcudean, S.E., and Lawrence, P.D. (1993). Application of force feedback to heavy duty hydraulic machines. Proceedings of IEEE International Conference on Robotics and Automation, pp. 375381.
25. Roy, J. and Whitcomb, L.L. (2002). Adaptive force control of position/velocity controlled robots: theory and experiment. IEEE Transactions on Robotics and Automation, 18 (2). 121 137.
26. Rugh, W.J. (1996). Linear Systems Theory, 2 nd edn. Prentice-Hall, Upper Saddle River, NJ.
27. Ruspini, D.C., Kolarov, K., and Khatib, O. (1997). The haptic display of complex graphical environments. In Proceedings of ACM International Conference on Computer Graphics and Interactive Techniques, pp. 345352.
28. Smid, M. (2000). In Handbook of Computational Geometry (eds J.-R. Sack and J. Urrutia). North Holland / Elsevier.
29. Tan, H.Z., Barbagli, F., Salisbury, K., Ho, C., and Spence, C. (2006). Force-direction discrimination is not influenced by reference force direction. Haptics-e, 4 (1). 1 6.
30. Turro, N., Khatib, O., and Coste-Maniere, E. (2001). Haptically augmented teleoperation. Proceedings of IEEE International Conference on Robotics and Automation, pp. 386 392.
31. Williams, R. L. Ii, Henry, J.M., Murphy, M.A., and Repperger, D.W. (1999). Naturally-transitioning rate-to-force control in free and constrained motion. ASME Journal of Dynamic Systems, Measurement, and Control, 121 (3). 425 432.
32. Zhai, S. and Milgram, P. (1993). Human performance evaluation of manipulation schemes in virtual environments. Proceedings of First IEEE Virtual Reality Annual International Symposium, pp. 155161.
33. Zilles, C.B. and Salisbury, J.K. (1995). A constraint-based God-object method for haptic display. Proceedings of IEEE/RSJ International Conference Intelligent Robots and Systems, pp. 146151.