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

Presentation Conference Type	Conference Paper (unpublished)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
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