Haptic telemanipulation with dissimilar kinematics

Angelika Peer; Bartlomiej Stanczyk; Martin Buss

doi:10.1109/IROS.2005.1545349

Haptic telemanipulation with dissimilar kinematics

Angelika Peer
, Bartlomiej Stanczyk
, Martin Buss

Chair of Automatic Control Engineering

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

19 Scopus citations

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 "user-friendliness " 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.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	3493-3498
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545349
State	Published - 2005

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

Compliant control
Haptic exploration
Redundancy
Teleoperation

Access to Document

10.1109/IROS.2005.1545349

Cite this

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title = "Haptic telemanipulation with dissimilar kinematics",

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 {"}user-friendliness {"} 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.",

keywords = "Compliant control, Haptic exploration, Redundancy, Teleoperation",

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Haptic telemanipulation with dissimilar kinematics. / Peer, Angelika; Stanczyk, Bartlomiej; Buss, Martin.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 3493-3498 1545349 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Peer, Angelika

AU - Stanczyk, Bartlomiej

AU - Buss, Martin

PY - 2005

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N2 - 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 "user-friendliness " 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.

AB - 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 "user-friendliness " 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.

KW - Compliant control

KW - Haptic exploration

KW - Redundancy

KW - Teleoperation

UR - https://www.scopus.com/pages/publications/33750210277

U2 - 10.1109/IROS.2005.1545349

DO - 10.1109/IROS.2005.1545349

M3 - Conference contribution

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SN - 0780389123

SN - 9780780389120

T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

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EP - 3498

BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

PB - IEEE Computer Society

ER -

Haptic telemanipulation with dissimilar kinematics

Abstract

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Keywords

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