Robot Teleoperation with Force Reflection and Impedance Control: A Hand Controller Device

THIS WORK PRESENTS THE DEVELOPMENT AND EXPERIMENTATION OF O THREE DEGREE OF FREEDOM HAND CONTROLLER (TWO D.O. F. FOR FARCE AND ONE D.O.F.FOR TORQUE), WHIT FORCE REFLECTION IN TWO OF ITS AXES AND TORQUE IN THE THIRD ONE. THIS HAND CONTROLLER WAS DEVELOPED. INTENDED FOR BOTH ROBOT MANIPULATOR AND FOR MOBILE ROBOT TELEOPERATION SYSTEMS. EXPERIMENTS HAVE BEEN PERFORMED USING A ROBOTIC HAND AS A REMOTE MANIPULATOR, SHOWING GOOD PERFORMANCE OF THE DESIGNED HAND CONTROLLER. ALSO, AN IMPEDANCE CONTROL HAS BEEN IMPLEMENTED IN THE REMOTE SYSTEM ALLOWING THE HUMAN OPERATOR TO CARRY OUT INTERACTION TASKS WITH THE ENVIRONMENT (SUCH AS POLISHING, OBJECT INSERTION, GRINDING, ETC) WHERE IT IS NECESARY TO CONTROL AND TO ""ACCOMMODATE"" THE INTERACTION FORC