Use of Bimanual Haptic Teleoperation System for Optimized Task Performance with Adaptive Haptic Tunnel

This paper presents bimanual haptic teleoperation system with implemented haptic tunnel for optimized task performance. The teleoperation system includes two industrial robots as slaves and two haptic robots as masters. The bimanual control is based on impedance control with included adaptive haptic tunnel. Task is performed in relative coordinates where base of the robot is set at end effector of one slave robot while the position of second slave robot is defined relatively to the new base. Haptic tunnel is defined with (a) reference trajectory obtained with initial task execution and described with Gaussian radial basis functions, (b) adaptive radius of the tunnel based on error between reference and traveled trajectory and percentage of the contact with the haptic tunnel. After each task execution the performance is evaluated following by proper adaptation of haptic tunnel. Developed algorithm was tested with a simple assembly task of inserting car bulb into its base.