A Control System Framework for Robust Deployability of Teleoperation Devices in Shared WorkspacesDownload PDF


10 May 2023 (modified: 23 May 2023)ICRA 2023 Workshop Lab-to-Real Gap Blind SubmissionReaders: Everyone
Keywords: teleoperation tevices, collaborative robotics, haptic force-feedback, optimization-based task specification, inverse differential kinematics
TL;DR: The paper introduces a teleoperation control system framework using inverse differential kinematics and OpTaS library aimed at improving deployability of teleoperation devices in industrial and medical collaborative environments.
Abstract: Robotic assistive devices offer unique benefits in industrial and medical settings augmenting purely human manipulation, such as precise micro-movements, and well-defined and concentrated force application with example use cases including soft-tissue inspection or surface polishing. Despite the abundance of literature focusing on laboratory demonstrations and experiments, the adoption of such technologies in industrial and medical settings remains limited due to concerns over safety, reliability, and training requirements. This paper introduces a reliable and adaptable control system framework for teleoperation devices with haptic force-feedback input, utilizing the Optimization-based Task Specification (OpTaS) Library. Our proposed framework addresses the aforementioned concerns by offering a control system with minimal training requirements and easily customizable safety constraints, aimed at enhancing deployability. A key contribution of the proposed control system is the introduction of inverse differential kinematics to real-time teleoperation, which enables the definition of safety constraints on the output of the controller providing an inherently safer implementation in contrast to fully inverse kinematic solutions.
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