Geodesic
Design of Teleoperation System for Control over Industrial Manipulators with Upper-Limb Exoskeleton
Russian journal of nonlinear dynamics, Tome 20 (2024) no. 5, pp. 789-811

Voir la notice de l'article provenant de la source Math-Net.Ru

This paper discusses how to develop and implement a bimanual teleoperation system using an exoskeleton suit and two collaborative robots. In the mathematical model, two methods of mapping have been implemented: Joint space mapping via direct control and Cartesian space mapping using Saturation in the Null Space. Both methods are verified in simulation using the developed mathematical model and on hardware using KUKA IIWA robots. A pick-and-place experiment is designed, and the corresponding end-effector positions of the master and the slave devices are obtained. Force feedback is introduced using two methods to improve accuracy and to show the applicability not only for collaborative robots but also on industrial manipulators.
Keywords: teleoperation, cobots, null space, control, mathematical modeling
Mots-clés : simulation 
@article{ND_2024_20_5_a5,
     author = {R. R. Damindarov and I. Gaponov and A. V. Maloletov},
     title = {Design of {Teleoperation} {System} for {Control} over {Industrial} {Manipulators} with {Upper-Limb} {Exoskeleton}},
     journal = {Russian journal of nonlinear dynamics},
     pages = {789--811},
     publisher = {mathdoc},
     volume = {20},
     number = {5},
     year = {2024},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/ND_2024_20_5_a5/}
}
TY  - JOUR
AU  - R. R. Damindarov
AU  - I. Gaponov
AU  - A. V. Maloletov
TI  - Design of Teleoperation System for Control over Industrial Manipulators with Upper-Limb Exoskeleton
JO  - Russian journal of nonlinear dynamics
PY  - 2024
SP  - 789
EP  - 811
VL  - 20
IS  - 5
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/item/ND_2024_20_5_a5/
LA  - en
ID  - ND_2024_20_5_a5
ER  - 
%0 Journal Article
%A R. R. Damindarov
%A I. Gaponov
%A A. V. Maloletov
%T Design of Teleoperation System for Control over Industrial Manipulators with Upper-Limb Exoskeleton
%J Russian journal of nonlinear dynamics
%D 2024
%P 789-811
%V 20
%N 5
%I mathdoc
%U http://geodesic.mathdoc.fr/item/ND_2024_20_5_a5/
%G en
%F ND_2024_20_5_a5
R. R. Damindarov; I. Gaponov; A. V. Maloletov. Design of Teleoperation System for Control over Industrial Manipulators with Upper-Limb Exoskeleton. Russian journal of nonlinear dynamics, Tome 20 (2024) no. 5, pp. 789-811. http://geodesic.mathdoc.fr/item/ND_2024_20_5_a5/