Development of a high performance haptic telemanipulation system with dissimilar kinematics

Stanczyk, B., Peer, A. and Buss, M. (2006) Development of a high performance haptic telemanipulation system with dissimilar kinematics. Advanced Robotics, 20 (11). pp. 1303-1320. ISSN 0169-1864 Available from: http://eprints.uwe.ac.uk/23894

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Publisher's URL: http://dx.doi.org/10.1163/156855306778792461

Abstract/Description

This work addresses selected practical issues regarding the development of a telerobotic system for 6 degrees of freedom (DoF) tasks. The system consists of a hyper redundant 10DoF haptic input device ViSHaRD10, a redundant 7DoF 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 6DoF for the case of a negligible time delay was performed. Issues regarding inverse kinematics, spatial interaction control, transparency, and intuitiveness of teleoperation are discussed.

Item Type:Article
Uncontrolled Keywords:haptics, telemanipulation, kinematics
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:23894
Deposited By: Professor A. Peer
Deposited On:23 Sep 2014 15:26
Last Modified:12 Apr 2016 13:07

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