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

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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 languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8751-8757
Number of pages7
ISBN (Electronic)978-1-5386-8094-0
DOIs
Publication statusPublished - 2018 Oct 4
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid, Spain
Duration: 2018 Oct 12018 Oct 5

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritorySpain
CityMadrid
Period2018/10/012018/10/05

Subject classification (UKÄ)

  • Robotics

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