A Novel 6‑DOF Force‑Sensed Human‑Robot Interface for an Intuitive Teleoperation  

作　　者：Zihao Li Fugui Xie Yanlei Ye Peng Li Xinjun Liu 

机构地区：[1]State Key Laboratory of Tribology in Advanced Equipment,Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China [2]Beijing Key Lab of Precision/Ultra‑Precision Manufacturing Equipments and Control,Tsinghua University,Beijing 100084,China

出　　处：《Chinese Journal of Mechanical Engineering》2022年第6期76-88,共13页中国机械工程学报（英文版）

基　　金：National Key Research and Development Program of China(Grant No.2019YFB1309900);Shandong Provincial Key Research and Development Program of China(Grant No.2019JZZY010432);Institute for Guo Qiang,Tsinghua University,China(Grant No.2019GQG0007).

摘　　要：The teleoperation of a 6 degrees-of-freedom(DOF)manipulator is one of the basic methods to extend people’s capabilities in the wide variety of applications.The master interface based on the force/torque(FT)sensor could provide the full-dimension intuitive teleoperation of a 6-DOF robot since it has the ability to trigger 6-DOF command input.However,due to the force coupling,noise disturbance and unlimited input signals of the FT sensor,this force-sensed interface could not be widely used in practice.In this paper,we present an intuitive teleoperation method based on the FT sensor to overcome these challenges.In this method,the input signals from the force-sensed joystick were filtered and then processed to the force commands by force limit algorithm,with the merits of anti-interference,output limitation,and online velocity adjustment.Furthermore,based on the admittance control and position controller,the manipulator could be teleoperated by the force commands.Three experiments were conducted on our self-designed robotic system.The result of the first experiment shows that the interfered force from the force coupling could be effectively suppressed with the limitation of the input force through force limit algorithm.Then,a parameter was introduced in the other two experiments to adjust the velocity online practically with force limit algorithm.The proposed method could give a practical solution to the intuitive teleoperation based on the FT sensor.

关 键 词：Force-sensed interface Haptic control Force coupling TELEOPERATION Human-robot interaction 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]