Dynamic Movement Primitives and Force Feedback: Teleoperation in Precision Grinding Process

Date

2017-12-02

Author

Açıkgöz, Kemal
Dönder, Abdülhamit
Ugurlu, Musab Cagri
Konukseven, Erhan İlhan

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

151
views

0
downloads

In this work, the Dynamic Movement Primitives (DMPs) concept for teleoperation on a robotic deburring machine is investigated. The correspondence problem occurs when human link and joint structures are different than target robot. Thus, transferring human movements to robot is generally problematic. Here, a teleoperation scheme is followed where human movements are directly converted to target robot while imposing capabilities of robot to the operator. A single degree of freedom haptic interface which relays the process forces to the human participant is built for controlling the deburring machine remotely. Human participant rotates the knob of the haptic device to keep the normal force constant. The knob motion is converted to the piezoelectric actuator via teleoperation. The DMPs of participants for different experiments are extracted and the ones with the lowest time span are collected in a single database which then used for simulation on different force values.

Subject Keywords

Force, Robot sensing systems, Deburring, Haptic interfaces, Piezoelectric actuators, Tools

URI

https://hdl.handle.net/11511/55795

Conference Name

10th International Conference on Electrical and Electronics Engineering (ELECO)

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises Kılıçaslan, Sinan; Özgören, Mustafa Kemal; Ider, Sıtkı Kemal (2022-07-01) This work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally flexible. An absolute coordinate approach is used while obtaining the dynamic equations to avoid complex dynamic equations. In this approach, each link is modeled as if there is no connection between the links. Then, joint connections are expressed as constraint equations. After that, the...
Motion control of flexible-link manipulators KILIÇASLAN, SEMA; Ider, S. K.; Özgören, Mustafa Kemal (2008-12-01) A new method is proposed for the end-effector trajectory tracking control of flexible robot manipulators. The equations of motion are separated into two parts that represent the pseudostatic equilibrium and the deviations from it, The part of the control input for the pseudostatic equilibrium is determined algebraically, and the other part of the control input for the stabilization of the deviations is obtained by a state variable feedback law, by using strain, joint variable, and end-effector position meas...
Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control Pouya, Soha; Aydın Göl, Ebru; Moeckel, Rico; Ijspeert, Auke Jan (2011-01-01) This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and secondly to exploit and coevolve both morphology and control aspects. A generic framework combining robot morphology, control and environment and on the top of them optimization and evolutionary algorithms are presented. The details of the components and ...
Sensor based planning: A control law for generating the generalized Voronoi graph Choset, H; Konukseven, Erhan İlhan; Rizzi, A (1997-01-01) We introduce a new control law for robots that explore unknown environments and configuration spaces. Unlike numerical continuation methods, which produce a jagged path because of the predictor-corrector approach, the control law, introduced in this paper, performs sensor based planning by directing the head of a robot to follow continuously a roadmap. Recall that a roadmap is a one-dimensional representation of a robot's environment. Once the robot exhaustively traces out the roadmap using this control law...
Analysis of wave gaits for energy efficiency Erden, Mustafa Suphi; Leblebicioğlu, Mehmet Kemal (2007-10-01) In this paper an energy efficiency analysis of wave gaits is performed for a six-legged walking robot. A simulation model of the robot is used to obtain the data demonstrating the energy consumption while walking in different modes and with varying parameters. Based on the analysis of this data some strategies are derived in order to minimize the search effort for determining the parameters of the gaits for an energy efficient walk. Then, similar data is obtained from an actual experimental setup, in which ...

Citation Formats

K. Açıkgöz, A. Dönder, M. C. Ugurlu, and E. İ. Konukseven, “Dynamic Movement Primitives and Force Feedback: Teleoperation in Precision Grinding Process,” presented at the 10th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, TURKEY, 2017, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/55795.