IEEE Robotics & Automation Magazine - September 2023 - 66

DISCUSSION
As shown in the specific example in this
section, the proposed haptic teleoperation
method makes an operator able to " touch "
the sound generated by a machining task.
For in situ repairs, installing an internal/
onboard sensor is often difficult or impossible,
but this method enables an easy acquisition
with an external microphone, without
changes to the system and environment.
The machining tool's spindle frequency
can then be extracted to derive the wrench
acting on the system and feed it back to the
user in real time. Therefore, the system
achieves haptic control through a sound
signal only. In the proposed example,
enabling haptic control helps operators to
control machining force and avoid tool
stalling. This result proves the feasibility of using audible features
to estimate an otherwise unknown force and increase operation
performance.
"
INSTALLING AN INTERNAL/ONBOARD
SENSOR
IS OFTEN DIFFICULT
OR IMPOSSIBLE, BUT
THIS METHOD ENABLES
AN EASY ACQUISITION
WITH AN EXTERNAL MICROPHONE,
WITHOUT
CHANGES TO THE SYSTEM
AND ENVIRONMENT.
„
Approaching
Machining
End of Operation
EXPERIMENTAL ERRORS
The spindle-frequency-against-radialforce
plot in the three reported conditions
have similar trends, with an error
distribution ranging between 0.01 and
0.02 N. Two main causes for error can be
found in equipment performance and
time delay. The first error source is due
to the vibration caused by the contact
between the machining tool and workpiece,
which causes a noise peak on the
load cell signal (see Figure 9), which hinders
the identification of an exact measurement
result.
The second error cause is the time
delay between force measurement and
spindle frequency detection. The acquisition
and processing of the sound signal
consume time every loop, and the estimated force is
always slightly delayed when compared to the load cell
real-time measurement.
Machined
Edge
Markers for
Motion Capture
10
20
-30
-20
-10
Haptic Device Position
Robot Tip Position
-1.5
-0.5
0.5
-2
-1
20 30 40 50 60
Time (s)
0.01
0.02
0.03
0.04
0.05
0.06
-0.01
Motion Control Touching the Sound
20 30 40 50 60
Time (s)
(a)
70 80 90
Real-Time Force Measured From Load Cell
Real-Time Force Obtained From Haptic System
0.01
0.02
0.03
0.04
0.05
0.06
-0.01
70 80 90
(b)
FIGURE 9. The results from the system demonstration. (a) The force and position measurements from the load cell and haptic device
during the machining experiments. (b) The machining end-effector attached on the robot during the machining experiments.
66 IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023
Radial Milling
Haptic Device
Force: Load Cell (N)
Position on x-Axis
Radial Milling Force:
Haptic System (N)
Robot Tip Position
on x-Axis

IEEE Robotics & Automation Magazine - September 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023

Contents
IEEE Robotics & Automation Magazine - September 2023 - Cover1
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