Safety-oriented Teleoperation Framework for Contact-rich Tasks in Hazardous Workspaces
Donghyeon Lee,Wan Kyun Chung,Keehoon Kim,Donghyeon Lee,Wan Kyun Chung,Keehoon Kim
This paper proposes an admittance controller-based teleoperation system for contact-rich tasks. Based on the analysis of the motivating task (deposited iron lump removal task in the steel mill), the system concept is focused on the practical aspects of the system, and various components are combined to enhance the safety of the teleoperation of the robot. To connect the large inertia difference be...
