Cooperative manipulation of deformable objects by single-leader-dual-follower teleoperation

Huang, Darong, Li, Bin, Li, Yanan and Yang, Chenguang (2022) Cooperative manipulation of deformable objects by single-leader-dual-follower teleoperation. IEEE Transactions on Industrial Electronics. p. 1. ISSN 0278-0046

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Abstract

This paper proposes a method for singleleader-dual-follower (SLDF) teleoperation, where one robot (direct-follower robot, DFR) is directly teleoperated and the other robot (assisting-follower robot, AFR) can autonomously cooperate with DFR to hold and move a deformable object, with the contact force regulated to a desired value. Since AFR does not know its partners movement, firstly, it achieves position alignment with DFR by using the contact force. Secondly, we develop an adaptive movement estimation algorithm according to Lyapunov theory, such that DFRs position is estimated in the presence of dynamic uncertainties. Finally, we adopt the impedance control to generate a reference trajectory for AFR to track, in order to maintain the desired contact force. Several simulations are conducted on a platform with two threedegrees-of-freedom (3-DOFs) robots. Experiments are performed with a dual-arm robot (Baxter), results of which demonstrate the feasibility and effectiveness of the proposed method.

Item Type: Article
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Schools and Departments: School of Engineering and Informatics > Engineering and Design
SWORD Depositor: Mx Elements Account
Depositing User: Mx Elements Account
Date Deposited: 04 Jan 2022 09:38
Last Modified: 10 Jan 2022 17:15
URI: http://sro.sussex.ac.uk/id/eprint/103493

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