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Haptic telemanipulation with dissimilar kinematics

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

Authors

Angelika Peer

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Presentation Conference Type Conference Paper (unpublished)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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