Development of a high-performance haptic telemanipulation system with dissimilar kinematics

Authors: Stanczyk, Bartlomiej; Peer, Angelika; Buss, Martin

Source: Advanced Robotics, Volume 20, Number 11, 2006 , pp. 1303-1320(18)

Publisher: VSP, an imprint of Brill

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Abstract:

This work addresses selected practical issues regarding the development of a telerobotic system for 6-d.o.f. tasks. The system consists of a hyper-redundant 10-d.o.f. haptic input device ViSHaRD10, a redundant 7-d.o.f. manipulator and a stereo vision system. The redundancy of the haptic input device is exploited to assure large convex workspaces and singularity-free operation. The anthropomorphic construction of the telemanipulator enables intuitive manipulation and increases the user-friendliness of the overall system. As a practical benchmark, an assembly experiment in 6 d.o.f. for the case of a negligible time delay was performed. Issues regarding inverse kinematics, spatial interaction control, transparency and intuitiveness of teleoperation are discussed.

Keywords: TELEOPERATION; HAPTIC EXPLORATION; REDUNDANCY; COMPLIANT CONTROL; INVERSE KINEMATICS

Document Type: Research article

DOI: 10.1163/156855306778792461

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