PROJECT TITLE :

The Effect of Interaction Force Estimation on Performance in Bilateral Teleoperation

ABSTRACT :

Measuring interaction forces in bilateral teleoperation systems might be tough, thanks to size and cost restrictions on the force sensors. Obtaining the interaction forces by estimation will be a viable various. The first contribution of this paper is the study of the result of interaction force estimation on performance in bilateral teleoperation. A distinction is created between the plain effect as a results of inaccurate estimation, and therefore the less obvious impact as a result of the inherent theoretical properties of a system that has two points of interaction with its surroundings (a teleoperator) as opposed to one purpose of interaction (single robot). Specifically, the existence of a singularity property is noticed, at which interaction force estimation is impossible, and close to which it may be infeasible. The secondary contribution of the paper is that the Force Sensor Free (FSF) transformation for linear teleoperation systems, that is an automatic procedure that turns a teleoperation controller with force sensing into an equivalent controller with force estimation. An experiment is reported whose objective is to validate the operation of the FSF transformation on a real teleoperator.