Telerobotics research and development at CEA list
Résumé
The CEA LIST Interactive Robotics Laboratory has been steadily involved in the development of master-slave systems for hostile environments since the pioneering work of Jean Vertut going back up to 1960s. This paper presents some recent results obtained in the field of telerobotics as well as ongoing projects. We first introduce some telerobotics concepts that we are proposing to support an ISO standard in telerobotics for nuclear installations. Regarding the problematic of operational safety of slaves in cluttered environment, we present some work done in contact prevention using a trilateral coupling control law between the master, the slave and the slave model simulated on the supervisory control application SCORE, this one using an efficient contact determination library (XDE) both developed at CEA LIST. If an unexpected external force is applied on the manipulator (i.e a contact) during its free space travel, it is necessary to stop its movement to prevent further consequences. The accuracy of a force /torque observer based on motor current measurement is heavily dependent on the linearity of torque transfer in the mechanical transmission. This is especially important in the case of an industrial manipulator like the RX Stäubli. For this purpose, we briefly present a new load-dependent friction model used and some identification results on various joints. Finally, we conclude this article by the first evaluation results of intuitive teloperation using the new force feedback arm exoskeleton ABLE 7D designed at IRL, and we discuss the perspectives offered by "integral" teleoperation (simultaneous work with both hands).
Mots clés
Contact detection
Force feedback
Friction model
Master exoskeleton
Supervisory control
Tele-operations
Tele-robotics
Civil defense
Computer simulation
Environmental regulations
Friction
Industrial robots
Manipulators
Remote control
Research and development management
Risk management
Standardization
Robotics