Tele-operation of a 6-DOF serial robot using a new 6-DOF haptic interface

Author

Hung, Vu Minh ; Na, Uhn Joo

Author_Institution

Sch. of Mech. Eng. & Autom., Kyungnam Univ., Masan, South Korea

fYear

2010

fDate

16-17 Oct. 2010

Firstpage

1

Lastpage

6

Abstract

This paper presents the kinematic analysis of a new 6-DOF haptic interface and control system analysis for the tele-operation of 6-DOF serial robot. The haptic interface consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low mass moment of inertia, quick motion, big rotation, and large applied torques. Kinematics for position and differential motion are developed for the 6-DOF haptic interface. Tele-operation of a 6-DOF serial manipulator using this haptic interface is demonstrated. Experiment results provide comparison of trajectories and forces/torques between 6-DOF haptic interface and 6-DOF serial robot on the Cartesian space.

Keywords

force control; haptic interfaces; manipulator kinematics; motion control; position control; telerobotics; torque control; differential motion kinematics; haptic interface; kinematic analysis; parallel structures; position kinematics; robot force; robot teleoperation; robot torque; robot trajectory; serial manipulator; serial robot; steering handle; End effectors; Force; Haptic interfaces; Joints; Robot sensing systems; Trajectory; haptic device; haptic interface; master-slave control; robotic tele-operation; tele-operation;

fLanguage

English

Publisher

ieee

Conference_Titel

Haptic Audio-Visual Environments and Games (HAVE), 2010 IEEE International Symposium on

Conference_Location

Phoenix, AZ

Print_ISBN

978-1-4244-6507-1

Type

conf

DOI

10.1109/HAVE.2010.5623986

Filename

5623986