Design and research of bilateral teleoperation for CFETR tile assembly using haptic feedback

Bilateral teleoperation is a control strategy used in remote handling (RH) to enable an operator to control a robot or system while perceiving the interactive force in the environment. To enhance the immersive operating experience by reducing time delays, a control system based on OROCOS and DDS has been presented to rapidly establish the bilateral teleoperation system with real-time performance. Additionally, a bilateral control algorithm combining closed-loop pose tracking and force feedback is proposed to improve the pose tracking accuracy of the slave robot and enhance the sense of telepresence. As a part of the pre-study on the tile assembly conducted by CMOR in Chinese Fusion Engineering Test Reactor (CFETR), a lightweight experimental setup has been constructed based on the maintenance scenario in EAST. Relative experiments have been conducted to validate the accuracy and effectiveness of the bilateral teleoperation system. The results demonstrate low latency and smooth control during the bilateral teleoperation process.