Abstract
The paper is concerned with execution of endpoint task in robotic teleoperation in the case that a part of telerobot's body interacts with an obstacle in telerobot's working space. Recently, without any force sensing the simultaneous realization of an endpoint task and adaptation to external forces acting on a part of body of a multi-joint robot has been presented. It is based on preserving redundant degrees of freedom of a robotic system during operation. By applying the idea to a telerobot with six joints, the experimental results demonstrate that thanks to the kinematic redundancy obstacle adaptation is realized and an operator can concentrate on primary tasks without any care for obstacle contact.
