Angelika Peer Angelika.Peer@uwe.ac.uk
Haptic telemanipulation with dissimilar kinematics
Peer, Angelika; Stanczyk, B.; Buss, M.
Authors
B. Stanczyk
M. Buss
Abstract
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.
Citation
Peer, A., Stanczyk, B., & Buss, M. (2005, August). Haptic telemanipulation with dissimilar kinematics. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada
Presentation Conference Type | Conference Paper (unpublished) |
---|---|
Conference Name | IEEE/RSJ International Conference on Intelligent Robots and Systems |
Conference Location | Edmonton, Canada |
Start Date | Aug 2, 2005 |
End Date | Aug 6, 2005 |
Publication Date | Aug 1, 2005 |
Peer Reviewed | Peer Reviewed |
Pages | 3493 - 3498 |
Keywords | haptics, telemanipulation, kinematics |
Public URL | https://uwe-repository.worktribe.com/output/1048431 |
Publisher URL | http://dx.doi.org/10.1109/IROS.2005.1545349 |
Additional Information | Title of Conference or Conference Proceedings : IEEE/RSJ International Conference on Intelligent Robots and Systems |
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