This study is mainly about the designation of a new type of haptic device and an asymmetric teleoperation robot system. Aiming at the problems of tracking and transparency of an asymmetric teleoperation system, a robust control algorithm based on a state observer was proposed. The Haptic Device was designed and was chosen as the master-robot of the system. The Baxter dual-arm robot was chosen as the slave-robot of the system. The simulation experiment of robust control based on a state observer of the asymmetric teleoperation robot was carried out. The experiment results showed that the maximum values of displacement tracking errors in three directions x, y, and z are 0.02 m, 0.01 m, and 0.015 m, respectively. Compared with single- joint PID control, the performance of the new control algorithm is improved. The force feedback experiment on the real asymmetric teleoperation robot system was carried out. The results showed that the force feedback wave is consistent with the actual situation and showed that the robust control algorithm proposed is superior to PID. Therefore, the algorithm perfectly satisfied the system. The experiment parameters also demonstrate that the haptic device satisfies the design requirements of the asymmetric teleoperation robots system and the industry standards.

This paper focuses on designation and multiobjective optimization of a new haptic device. A new six‐DOF hybrid haptic device has been designed combining series mechanism 3PRPaR and parallel mechanism ROBO_003.3PRPaR which is the positioning mechanism and ROBO_003 which is the directional mechanism. Screw theory was carried out to analyze the DOF of ROBO_003, aiming at the requirement performances of working space, stiffness, reverse drive, and output capacity of haptic device. Forward kinematics and inverse kinematics of the positioning mechanism were analyzed. To ensure the force transmission performance and compact structure, the evaluating indicator is dexterity and volume. Generalized coordinates as constraint condition, length of moving rod, and dexterity were chosen as the objective function. The parameters were optimized based on multiobjective optimization of the genetic algorithm. The paretooptimal solution set of the objective function was received. The results showed that the most suitable parameters are 0.502 rad. The optimized dexterity is 69% higher than the unoptimized, and the rod length is reduced by 6%.The research of this paper provides a theoretical basis for the designation of new haptic device.

With the continuous advancement of industrial automation, the performance requirements for metallurgical industrial robots, especially in teleoperation systems, are increasingly demanding. This paper presents an adaptive force/position control algorithm based on Fuzzy CMAC (Cerebellar Model Articulation Controller) for an asymmetric teleoperation system. The system consists of a novel 6-degree-of-freedom master robot and a Baxter slave robot. Our design focuses on addressing tracking and transparency issues in asymmetric systems. Experimental results demonstrate that the proposed control algorithm significantly outperforms the adaptive fuzzy PID control algorithm in terms of control performance, meeting the requirements for stability, tracking, and transparency in asymmetric teleoperation systems. The innovation of this study lies in the development of a new 6-DOF haptic device and its successful application in an asymmetric teleoperation system, enhancing control precision and user experience. The results of this research not only hold application potential in the metallurgical field but also provide new technical pathways for the future development of teleoperation systems.

Metallurgical industrial robots are increasingly relied upon in modern industries, with growing demands for higher performance. Teleoperation systems, which consist of a master robot and a slave robot, are widely used in the metallurgical field. Stability, tracking, and transparency are key performance requirements for these systems. This study proposes an asymmetric teleoperation system with a novel 6-degree-of-freedom (6-DOF) haptic device as the master robot and a Baxter robot as the slave robot. To enhance the system's tracking and transparency, an LQR (Linear Quadratic Regulator) control algorithm combined with Kalman filtering is introduced for force/position control. Simulation and experimental results demonstrate that the LQR + Kalman filter control algorithm significantly improves control performance compared to the previous Adaptive Fuzzy & PID control algorithm. The system exhibits reduced trajectory tracking errors and enhanced force feedback accuracy, meeting the stringent requirements of asymmetric teleoperation systems in the metallurgical industry. The proposed control strategy not only optimizes the performance of the teleoperation system but also provides a robust solution for real-time control applications in complex industrial environments.

Metallurgical industrial robots play an increasingly indispensable role in modern industries. Today, with a significant increase in industrial automation, people continually demand higher performance from metallurgical industrial robots. The application of teleoperated system in the metallurgical field is becoming increasingly widespread. A teleoperation system consists of a master robot and a slave robot. Stability, tracking, and transparency are the performance requirements for teleoperation systems. Asymmetric teleoperation systems are more widely used than isomorphism teleoperation systems. This study chose an asymmetric teleoperation system in which the master robot is a novel form of 6-degree of freedom mechanism consists of series and parallel. The slave robot is Baxter robot. An Adaptive CAMC intelligent control algorithm was used for asymmetric teleoperation system force/position control. The experiment results showd that the Adaptive Fuzzy CAMC control algorithm outperforms Adaptive Fuzzy & PID control algorithm in terms of control performance for Asymmetric teleoperation systems. The experiment also demonstrates that the master hand satisfies the asymmetric teleoperation system..