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 degrees of freedom (DoF) tasks. The system consists of a hyper redundant 10DoF haptic input device ViSHaRD10, a redundant 7DoF 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 6DoF for the case of a negligible time delay was performed. Issues regarding inverse kinematics, spatial interaction control, transparency, and intuitiveness of teleoperation are discussed.

• Type: Journal
• Year: 2006
• Where: AR
• Authors: Bartlomiej Stanczyk, Angelika Peer, Martin Buss
• Keywords: AR 2006, Haptic Input Device, Large Convex Workspaces, Redundant 7DoF Manipulator