Real-time manipulation technology implementation for tele-operation control

   What is our purpose

There are many cases which human cannot drive on it. For example, In nuclear power plant, it is very dangerous go in to the nuclear reactor.
And patients who cannot move well, are hard to go to the hospital. So, we suggest this system which can make the operator needless to go there.


About our reasearch area
1. Contact state estimation control

 One aspect of machine perception is the automatic determination of contact states and the object properties associated with those states. Such information is useful in a broad range of manipulation problems.

2. Teleoperation(Especially interface mapping)

 Teleoperation indicates operation of a machine at a distance. It is similar in meaning to the phrase "remote control" but is usually encountered in research, academic and technical environments.  
 It is most commonly associated with robotics and mobile robots but can be applied to a whole range of circumstances in which a device or machine is operated by a person from a distance.

3. Singularity avoidance

 Singularity problems surface when trying to control robots in Cartesian space. A robot singularity occurs when robot axes are redundant(more axes than necessary to cause the same motion) 
 or when the robot is in certain configurations that require extremely high joint rates to move at some nominal speed in Cartesian space. 
 Mathematically, a jacobian mathematical matrix formulation can be used to relate the motion in joint space to the motion in Cartesian space. The singularity occurs when the inverse jacobian becomes singular.

What we are doing now

1. Contact state estimation control

 Without contact estimation control, we cannot get full ultrasound image. Because probe did't rotate well.
 But using our algorithmn(Normal contact state estimation control), we can get full ultrasound image of the patient's arm.









<Without our algorithm>                                                                        <Using our algorithm>


2. Teleoperation(Especially interface mapping)

 We suggest two method, "Absolute control", "Relative control"
 Absolute control means that the haptic device and robot have same position or orientation.

Relative control means that the haptic device and robot have diffrent position or orientation. but it can move more than physical haptic workspace.


<Absolute control>                                                      <Relative control>


<Haptic test(orentation, position ball matching test) and result>

3. Sigularity avoidance

 we are using our sigular avoid algorithmn and make joint limit when the robot has sigular state.


<Sigularity avoid algorithmn adapted robot>


<Sigularity compensate wite joint limit>