The DLR bimanual haptic device with optimized workspace

Author

Hulin, Thomas ; Hertkorn, Katharina ; Kremer, Philipp ; Schätzle, Simon ; Artigas, Jordi ; Sagardia, Mikel ; Zacharias, Franziska ; Preusche, Carsten

Author_Institution

Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling, Germany

fYear

2011

fDate

9-13 May 2011

Firstpage

3441

Lastpage

3442

Abstract

Abstract-This article accompanies a video that presents a bimanual haptic device composed of two DLR/KUKA Light weight Robot (LWR) arms. The LWRs have similar dimensions to human arms, and can be operated in torque and position control mode at an update rate of 1kHz. The two robots are mounted behind the user, such that the intersecting workspace of the robots and the human arms becomes maximal. In order to enhance user interaction, various hand interfaces and additional tactile feedback devices can be used together with the robots. The presented system is equipped with a thorough safety architecture that assures safe operation for human and robot. Additionally, sophisticated control strategies improve performance and guarantee stability. The introduced haptic system is well suited for versatile applications in remote and virtual environments, especially for large unsealed movements.

Keywords

haptic interfaces; human-robot interaction; manipulators; position control; torque control; DLR bimanual haptic device; DLR light weight robot arms; KUKA light weight robot arms; hand interfaces; haptic system; position control; safety architecture; tactile feedback devices; torque control; user interaction; Collision avoidance; Haptic interfaces; Humans; Joints; Robot sensing systems; Safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5980066

Filename

5980066