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

Bartlomiej Stanczyk; Angelika Peer; Martin Buss

doi:10.1163/156855306778792461

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

Bartlomiej Stanczyk, Angelika Peer, Martin Buss

Chair of Automatic Control Engineering

Technical University of Munich

Research output: Contribution to journal › Article › peer-review

15 Scopus citations

Abstract

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.

Original language	English
Pages (from-to)	1303-1320
Number of pages	18
Journal	Advanced Robotics
Volume	20
Issue number	11
DOIs	https://doi.org/10.1163/156855306778792461
State	Published - 2006

Keywords

COMPLIANT CONTROL
HAPTIC EXPLORATION
INVERSE KINEMATICS
REDUNDANCY
TELEOPERATION

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10.1163/156855306778792461

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title = "Development of a high-performance haptic telemanipulation system with dissimilar kinematics",

abstract = "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.",

keywords = "COMPLIANT CONTROL, HAPTIC EXPLORATION, INVERSE KINEMATICS, REDUNDANCY, TELEOPERATION",

author = "Bartlomiej Stanczyk and Angelika Peer and Martin Buss",

note = "Funding Information: This work is supported in part by the German Research Foundation (DFG) within the collaborative research center SFB453 “High-Fidelity Telepresence and Teleac-tion”. The authors appreciate the valuable comments by the anonymous reviewers, which helped strengthen the paper considerably, as well as the help and scientific input of Marc Ueberle and Kwang-Kyu Lee. Special thanks go to the workshop team F. Bachmann, J. Gradl, H. Kubick, T. Lowitz and T. Stoeber for their excellent work during the robot construction phase.",

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doi = "10.1163/156855306778792461",

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AU - Stanczyk, Bartlomiej

AU - Peer, Angelika

AU - Buss, Martin

N1 - Funding Information: This work is supported in part by the German Research Foundation (DFG) within the collaborative research center SFB453 “High-Fidelity Telepresence and Teleac-tion”. The authors appreciate the valuable comments by the anonymous reviewers, which helped strengthen the paper considerably, as well as the help and scientific input of Marc Ueberle and Kwang-Kyu Lee. Special thanks go to the workshop team F. Bachmann, J. Gradl, H. Kubick, T. Lowitz and T. Stoeber for their excellent work during the robot construction phase.

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

KW - COMPLIANT CONTROL

KW - HAPTIC EXPLORATION

KW - INVERSE KINEMATICS

KW - REDUNDANCY

KW - TELEOPERATION

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

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Keywords

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