Haptic telemanipulation with dissimilar kinematics

Peer, Angelika; Stanczyk, B.; Buss, M.

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.

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: IEEE/RSJ International Conference on Intelligent Robots and Systems
• 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