Abstract
The precise teleoperation is still a hard and hot research topic in the teleoperation area, because of much higher requirement of transparency and stability. With the current teleoperation systems, the operator usually could not precisely feel the exact force he imposed to the master hand controller, and also the contact force generated by the slave robot during the interaction with the environment. In this paper, in order to provide an accurate contact force to the operator in the master robot side, a prediction method of contact force was presented based on our previous work. The operator was considered as the core part in the whole system. The relationship of the electromyography signal on the operator’s arm and the gesture of the hand controller and the corresponding contact force, was explored and mapped with the generalized regression neural network. Based on the predicted force in the relationship function, a non-time based precise teleoperation control method was brought in to ensure the control stability of the teleoperation with time delay. A special experimental platform was established to conduct puncture experiment under a non-time based variable z with four different materials. The result of comparison with the prediction contact force by information fusion, corrected value by non-time based control and the real value shows the prediction method could get an accurate value of contact force in precise teleoperation with time delay.
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Acknowledgment
This work was partially supported by the National Natural Science Foundation of China under Grants (61663027), and the Jiangxi Natural Science Foundation (20181BAB211019), China Postdoctoral Science Foundation (2018M642137) and the Jiangsu Province Postdoctoral Research Funding Plan (2018K024A).
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Xiong, P., Song, A., Li, J., Lei, Y. (2019). A Prediction Method of Contact Force in Precise Teleoperation with Time Delay. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_59
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DOI: https://doi.org/10.1007/978-3-030-27532-7_59
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