Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface

Mahdi Ghazaei Ardakani; Martin Karlsson; Klas Nilsson; Anders Robertsson; Rolf Johansson

doi:10.1109/IROS.2018.8594260

Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface

Mahdi Ghazaei Ardakani, Martin Karlsson, Klas Nilsson, Anders Robertsson, Rolf Johansson

Italian Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

471 Downloads (Pure)

Abstract

Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is proposed, where the
operator can sense and act through the robot. This is achieved by coupling two robotic systems with virtual constraints such that they have the same coordinates in the operational space disregarding a fixed offset. Limitations caused by the singular configurations or the reach of the robots are naturally reflected to either side as haptic feedback.

Original language	English
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	8751-8757
Number of pages	7
ISBN (Electronic)	978-1-5386-8094-0
DOIs	https://doi.org/10.1109/IROS.2018.8594260
Publication status	Published - 2018 Oct 4
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid, Spain Duration: 2018 Oct 1 → 2018 Oct 5

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	Spain
City	Madrid
Period	2018/10/01 → 2018/10/05

Subject classification (UKÄ)

Robotics and automation

Access to Document

10.1109/IROS.2018.8594260

haptic_IROS18

Cite this

Ghazaei Ardakani, M., Karlsson, M., Nilsson, K., Robertsson, A., & Johansson, R. (2018). Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 8751-8757). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594260

@inproceedings{65476ba5180b4ebd9962e7fbd012100c,

title = "Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface",

abstract = "Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is proposed, where theoperator can sense and act through the robot. This is achieved by coupling two robotic systems with virtual constraints such that they have the same coordinates in the operational space disregarding a fixed offset. Limitations caused by the singular configurations or the reach of the robots are naturally reflected to either side as haptic feedback.",

author = "{Ghazaei Ardakani}, Mahdi and Martin Karlsson and Klas Nilsson and Anders Robertsson and Rolf Johansson",

year = "2018",

month = oct,

day = "4",

doi = "10.1109/IROS.2018.8594260",

language = "English",

pages = "8751--8757",

booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 01-10-2018 Through 05-10-2018",

}

Ghazaei Ardakani, M, Karlsson, M, Nilsson, K, Robertsson, A & Johansson, R 2018, Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 8751-8757, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 2018/10/01. https://doi.org/10.1109/IROS.2018.8594260

Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface. / Ghazaei Ardakani, Mahdi; Karlsson, Martin; Nilsson, Klas et al.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE - Institute of Electrical and Electronics Engineers Inc., 2018. p. 8751-8757.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface

AU - Ghazaei Ardakani, Mahdi

AU - Karlsson, Martin

AU - Nilsson, Klas

AU - Robertsson, Anders

AU - Johansson, Rolf

PY - 2018/10/4

Y1 - 2018/10/4

N2 - Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is proposed, where theoperator can sense and act through the robot. This is achieved by coupling two robotic systems with virtual constraints such that they have the same coordinates in the operational space disregarding a fixed offset. Limitations caused by the singular configurations or the reach of the robots are naturally reflected to either side as haptic feedback.

AB - Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is proposed, where theoperator can sense and act through the robot. This is achieved by coupling two robotic systems with virtual constraints such that they have the same coordinates in the operational space disregarding a fixed offset. Limitations caused by the singular configurations or the reach of the robots are naturally reflected to either side as haptic feedback.

U2 - 10.1109/IROS.2018.8594260

DO - 10.1109/IROS.2018.8594260

M3 - Paper in conference proceeding

SP - 8751

EP - 8757

BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 1 October 2018 through 5 October 2018

ER -

Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface

Abstract

Conference

Subject classification (UKÄ)

Access to Document

Other files and links

Fingerprint

RobotLab LTH

Kirurgens Perspektiv

RobotLab LTH Infrastructure

Cite this

Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface

Abstract

Conference

Subject classification (UKÄ)

Access to Document

Other files and links

Fingerprint

Projects

RobotLab LTH

Kirurgens Perspektiv

Equipment

RobotLab LTH Infrastructure

Cite this