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

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

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceedingPeer review

435 Nedladdningar (Pure)

Sammanfattning

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.
Originalspråkengelska
Titel på värdpublikation2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
FörlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Sidor8751-8757
Antal sidor7
ISBN (elektroniskt)978-1-5386-8094-0
DOI
StatusPublished - 2018 okt. 4
Evenemang2018 IEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid, Spanien
Varaktighet: 2018 okt. 12018 okt. 5

Konferens

Konferens2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Land/TerritoriumSpanien
OrtMadrid
Period2018/10/012018/10/05

Ämnesklassifikation (UKÄ)

  • Robotteknik och automation

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