Design, control, and evaluation of a new 6 DOF haptic device

Ueberle, M.; Buss, Martin

doi:10.1109/irds.2002.1041720

Cited by 46 publications

(21 citation statements)

References 10 publications

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“…In these fields, positioning precision is less critical than safety and working efficiency. The other category, i.e., serial type of devices provides high force capability and comparatively large workspace [16]. Control of serial type haptic devices usually requires the movements from the forearm of the operator instead of only the waist and fingers.…”

Section: Mapping Of the Nhd And The Kbcmentioning

confidence: 99%

Enhancement of Virtual Simulator for Marine Crane Operations via Haptic Device with Force Feedback

Chu

Zhang

Wang

2016

Haptics: Perception, Devices, Control, and Applications

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Abstract. This paper presents simulations of maritime crane operations using a haptic device with force feedback. Maritime crane operations are challenging under adverse environmental conditions. System testing and operation training on physical systems and prototypes are time-consuming and costly. Simulation of crane operations in virtual environment alleviates the shortcomings with physical systems by 3D visualization and force feedback to the operator. Currently, haptic technology has limited applications in heavy industries due to the system stability and safety issues related to remote control of large manipulators. A novel 6-DoF haptic device was developed for crane operations enabling a larger workspace range and higher rigidity. The employment of the haptic device enlarges the human interaction scope of the virtual simulator for crane operations by sending feedback forces to the operators. Simulations of maritime crane anti-sway control suggested that the load sway time and amplitude were reduced more effectively with force feedback. Using the haptic device, it also helps the crane operator to prevent problematic operations. Keywords: maritime crane operation, virtual simulation, force feedback IntroductionCompared to land based cranes, maritime cranes are harder to operate considering both safety and working efficiency. It is rather difficult to achieve stable and accurate positioning of the heavy pendulum load via remote control devices. The movements of the vessel cause many problems in offshore and subsea applications. The load sway creates high safety risks for the object, equipment and personnel on board. In maritime crane operations, direct visual information including monitors and sensors in the control room tends to be insufficient for the operators to make quick and adequate response in practice. It demands a lot of experience from the operators, and intensive concentrations during the operation time. Haptic device with force feedback can help convey information directly to the operators, leaving them to concentrate on the task

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Section: Mapping Of the Nhd And The Kbcmentioning

confidence: 99%

Enhancement of Virtual Simulator for Marine Crane Operations via Haptic Device with Force Feedback

Chu

Zhang

Wang

2016

Haptics: Perception, Devices, Control, and Applications

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“…This type of feedforward force loop, described in (Carignan & Cleary, 2000) and (Frisoli et al, 2004), has been successfully used in (Bernstein et al, 2005) to reduce the friction of the Haptic Interface at The University of Colorado. In (Ueberle & Buss, 2002), this strategy was used to compensate gravity and reduce the friction of the prototype of ViSHaRD6. It has also been used in (Hashtrudi-Zaad & Salcudean, 1999) for a teleoperation system.…”

Section: Improving Transparency For Haptic Renderingmentioning

confidence: 99%

Stability Boundary and Transparency for Haptic Rendering

Díaz¹,

Gil²,

Hulin³

2010

Advances in Haptics

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“…[13], an articulated desktop robotic device called Rhino XR4 is proposed to be used as an educational robotic workstation with graphical user interface for students to perform experiments. Moreover, in the literature, a variety of robot design and development studies are presented for haptic applications [14][15][16][17][18]. The results in Refs.…”

Section: Introductionmentioning

confidence: 99%

Design and development of an educational desktop robot R³D

Şahin¹,

Uzunoğlu²,

Tatlıcıoğlu

et al. 2017

Comp Applic In Engineering

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Robotic desktop devices have been used for academic purposes for a variety of investigation and development studies. Desktop devices for academic/educational purposes have been highly anticipated especially in the fields of haptics, teleoperation systems, and control studies. This paper's motivation is to present the steps of designing, manufacturing, and implementing of Educational Desktop Robot R 3 D to be used for haptics, teleoperation, and redundancy control studies. The design, manufacturing details, kinematic, and dynamic model of the robot are described in the manuscript. Additionally, a case study is carried out for end effector control in task space is given and the results are shared. ß 2017 Wiley Periodicals, Inc. Comput Appl Eng Educ 25:222-229, 2017; View this article online at wileyonlinelibrary.com/journal/cae;

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Design, control, and evaluation of a new 6 DOF haptic device

Cited by 46 publications

References 10 publications

Enhancement of Virtual Simulator for Marine Crane Operations via Haptic Device with Force Feedback

Enhancement of Virtual Simulator for Marine Crane Operations via Haptic Device with Force Feedback

Stability Boundary and Transparency for Haptic Rendering

Design and development of an educational desktop robot R³D

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Design, control, and evaluation of a new 6 DOF haptic device

Cited by 46 publications

References 10 publications

Enhancement of Virtual Simulator for Marine Crane Operations via Haptic Device with Force Feedback

Enhancement of Virtual Simulator for Marine Crane Operations via Haptic Device with Force Feedback

Stability Boundary and Transparency for Haptic Rendering

Design and development of an educational desktop robot R3D

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Product

Resources

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Design and development of an educational desktop robot R³D