Experimental Results in Control of an Industrial Robot Used as a Haptic Interface

Hoogen, J.P.M. van den; Schmidt, G.

doi:10.1016/s1474-6670(17)41700-9

Cited by 5 publications

(5 citation statements)

References 4 publications

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“…For example, industrial robots [4] have often been used as haptic interfaces due to their accuracy and relative high force capability. A novel grounded hyper-redundant haptic interface is presented in [5].…”

Section: B State Of the Artmentioning

confidence: 99%

Motion control of a semi-mobile haptic interface for extended range telepresence

Arias

Hanebeck

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents the control concept of a semimobile haptic interface for extended range telepresence that enables the user to explore spatially unrestricted target environments even from a small user environment. The semi-mobile haptic interface consists of a haptic manipulator mounted on a large grounded Cartesian robot, the prepositioning unit. The prepositioning unit is controlled in such a way that the haptic manipulator is kept off its workspace limits. At the same time, the control algorithm allows the optimal utilization of the available space in the user environment and guarantees the safety of the user. The proposed control method is based on the position and velocity of the end-effector and also takes the position of the user into account. Moreover, it is robust against noisy measurements of the user position or outliers due, for example, to occlusions in the tracking system. Experimental results show the suitability of the proposed control to provide haptic interaction in extended range telepresence.

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Section: B State Of the Artmentioning

confidence: 99%

Motion control of a semi-mobile haptic interface for extended range telepresence

Arias

Hanebeck

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…This property can only be achieved by suitable feedback control. Assuming linearity, mechanical impedance can be defined by the transfer function 11,12 Z͑s ͒ϭ…”

Section: Transparencymentioning

confidence: 99%

“…Basically, two different approaches to the control of haptic interfaces are distinguished: impedance and admittance architecture. 11,13,14 In this paper, the focus is on the impedance architecture only. This architecture is characterized by a haptic interface, which displays forces in response to measured displacements of the interface endeffectors.…”

Section: Transparencymentioning

confidence: 99%

Design issues of mobile haptic interfaces

2003

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As a novel approach to force-reflecting telepresence, the concept of mobile haptic interfaces (MHI) is presented. An MHI actively follows the locomotion of an operator, who is no longer bound to be stationary during teleoperation. Thus, operator locomotion can be used as an input for locomotion control of a real teleoperator or control of locomotion in a virtual environment while keeping the advantage of force-reflection. The article focuses on basic design issues and presents a prototype MHI for haptic exploration of extended virtual environments.

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“…For example, industrial robots have often been used as haptic interfaces due to their accuracy and relative high force capability (Hoogen and Schmidt, 2001) but their limited workspace makes them unfeasible for extended range telepresence. In the last years, several haptic interfaces that allow a dexterous feedback and fairly high forces have been designed to enlarge their workspaces, e.g.…”

Section: Introductionmentioning

confidence: 99%

A NOVEL HAPTIC INTERFACE FOR EXTENDED RANGE TELEPRESENCE - Control and Evaluation

Arias¹,

Hanebeck²

2009

Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics

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Abstract:A novel haptic interface for extended range telepresence is presented that allows the user simultaneous wide area motion and haptic interaction in remote environments. To achieve an extended workspace, the haptic interface consists of a haptic manipulator for precise haptic rendering and a large portal carrier system that enlarges the workspace by prepositioning the end-effector. As the prepositioning unit is grounded and driven by three linear drives, our approach has the advantages of high force capability and an accurate positioning of the haptic interface. The use of this haptic interface with Motion Compression permits to explore large remote environments even from small user environments. As a result, not only has the user visual, acoustic, and haptic feedback, but can also control the teleoperator or avatar by natural walking, which considerably increases the sense of immersion. A prototype system for haptic extended range telepresence was designed, implemented, and tested.

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Experimental Results in Control of an Industrial Robot Used as a Haptic Interface

Cited by 5 publications

References 4 publications

Motion control of a semi-mobile haptic interface for extended range telepresence

Motion control of a semi-mobile haptic interface for extended range telepresence

Design issues of mobile haptic interfaces

A NOVEL HAPTIC INTERFACE FOR EXTENDED RANGE TELEPRESENCE - Control and Evaluation

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