Telepresence and stability analysis for haptic tele-manipulation with short time delay

Author

Cortesão, Rui ; Park, Jaeheung ; Khatib, Oussama

Author_Institution

Inst. of Syst. & Robotics, Coimbra Univ., Portugal

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

436

Lastpage

441

Abstract

This paper discusses the design of a telemanipulation system for haptic telepresence using Kalman active observers (AOBs). A robotic manipulator is controlled by the human operator through a haptic device. Free space, contact and impact experiments are presented, highlighting the capabilities of compliant motion control with AOBs. Telepresence and stability are analyzed taking into account the control design, the system stiffness and a spring-damper-mass model of the human arm. Haptic manipulation experiments on soft and hard surfaces are presented.

Keywords

Kalman filters; delays; haptic interfaces; interactive devices; manipulators; motion control; observers; stability; telecontrol; Kalman active observers; Kalman filters; compliant motion control; control design; haptic devices; haptic telemanipulation; human arm; robotic manipulation; robotic manipulator; short time delay; spring-damper-mass model; stability analysis; system stiffness; telepresence; Control design; Delay effects; Haptic interfaces; Humans; Kalman filters; Manipulators; Motion control; Orbital robotics; Robot control; Stability analysis; Compliant Motion Control; Haptics; Kalman Filter; Robotic Manipulation; Telepresence;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545455

Filename

1545455