User Interface Design for Semi-Autonomous Teleoperation of Manipulator-Stage Systems on Vertical Flexible Beam

Abstract

An user interface design is presented for semi-autonomous teleoperation system consisting of 3-DOF manipulator, 1-DOF linear stage, and flexible beam erected vertically. To perform peg-in-hole task with the manipulator on the vibrated beam effectively, LQR(Linear Quadratic Regulator) based control is applied for autonomous vibration suppression control. Three strain gauges, one IMU(Inertial Measurement Unit), and motor encoders are used for system on-board. From the perspective of the user interface, teleoperation framework which contains 3D visual information from HMD(Head Mounted Display), haptic feedback from haptic device is proposed in this paper. Optimization for 3D camera placement was performed with respect of human perception. Results of human subject study for our proposed interface show that 3D visual information with HMD device and haptic feedback help the peg-in-hole task in the best performances.