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

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.