Experimental Validation of Admittance-based Bilateral Teleoperation Preventing Position Drift Using Position-controlled Industrial Manipulators

Bilateral teleoperation is a key technology that enables to perform contact-rich tasks remotely. Bilateral teleoperation using commercial industrial manipulators has practical advantages, however, industrial manipulators have low backdrivability and no torque control, so admittance-based force control is required. 2ch admittance-based bilateral teleoperation has been proposed that is compatible with industrial manipulators. However, the conventional 2ch admittance-based type does not take into account the discrepancy of admittance control period and communication period between the leader and the follower that bring out position drift. In this paper, 4ch admittance-based bilateral teleoperation that prevents position drift is proposed, and a comparison between three constructs of admittance-based teleoperation using position-controlled industrial manipulator is conducted through experiments using commercial industrial manipulators Yaskawa GP7 and HC10DTP.