Title :
A New 6-DOF Haptic Device for Teleoperation of 6-DOF Serial Robots
Author :
Vu, Minh Hung ; Na, Uhn Joo
Author_Institution :
Sch. of Mech. Eng. & Autom., Kyungnam Univ., Masan, South Korea
Abstract :
A new 6-DOF parallel haptic device is developed and presented in this paper. The haptic device consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low inertia, quick motion, large orientation angles, and large applied torques. Kinematics for position and differential motion is analyzed for the 6-DOF haptic device. Static force relation between the user force and motor torque is also analyzed and implemented on the controller. The control system for the teleoperation of 6-DOF serial robot is developed. The closed loop impedance force control system is analyzed and realized on the digital controller. Tele-operation of a 6-DOF serial robot using this haptic device is demonstrated. Experiments show that dynamic forces caused by the haptic device are well compensated with the closed loop force control.
Keywords :
closed loop systems; digital control; force control; haptic interfaces; telerobotics; 3-DOF parallel structures; 6-DOF haptic device; 6-DOF serial robots; DOF parallel haptic device; closed loop impedance force control system; differential motion kinematics; digital controller; motor torque; position kinematics; static force; teleoperation; user force; Force control; Haptic interfaces; Master-slave; Teleoperators; Telerobotics; Force control; haptic control; haptic device; haptic interface; master-slave control; tele-operation; telerobotics;
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
DOI :
10.1109/TIM.2011.2164285
