Motion navigation in haptic bilateral system based on vision-based force compliance controller taking object coordinate into account

This paper addresses a solution for solving the object´s rotational effect during the navigation process by the haptic bilateral control system. The system utilizes the vision-based guidance which depends on the virtual force generated by the vision-based force compliance controller (VFCC). During object´s navigation, the virtual force is generated and affected to the manipulator´s horizontal trajectory movement. In this paper, the different rotational angle of an object´s trajectory which reflects to different movement direction of produced force, will be studied and evaluated. The details concerning the implementation of this method will be discussed. Two sets of experiments are conducted to evaluate the effectiveness of the proposed technique.