Haptic telemanipulation with dissimilar kinematics

Peer, A., Stanczyk, B. and Buss, M. (2005) Haptic telemanipulation with dissimilar kinematics. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, 2-6 August 2005., 3493 - 3498 Available from: http://eprints.uwe.ac.uk/23882

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Publisher's URL: http://dx.doi.org/10.1109/IROS.2005.1545349


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

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:haptics, telemanipulation, kinematics
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:23882
Deposited By: Professor A. Peer
Deposited On:25 Sep 2014 08:04
Last Modified:12 Apr 2016 13:07

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