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

Stanczyk, Bartlomiej; Peer, Angelika; Buss, Martin

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. © 2006 Taylor & Francis Group, LLC.

• Journal Article Type: Article
• Publication Date: Jan 1, 2006
• Journal: Advanced Robotics
• Print ISSN: 0169-1864
• Electronic ISSN: 1568-5535
• Publisher: Taylor & Francis
• Peer Reviewed: Peer Reviewed
• Volume: 20
• Issue: 11
• Pages: 1303-1320
• DOI: https://doi.org/10.1163/156855306778792461
• Keywords: haptics, telemanipulation, kinematics
• Public URL: https://uwe-repository.worktribe.com/output/1045444
• Publisher URL: http://dx.doi.org/10.1163/156855306778792461