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

Forskningsoutput: Kapitel i bok/rapport/Conference proceeding › Konferenspaper i proceeding › Peer review

385 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.

Originalspråk	engelska
Titel på värdpublikation	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Förlag	IEEE - Institute of Electrical and Electronics Engineers Inc.
Sidor	8751-8757
Antal sidor	7
ISBN (elektroniskt)	978-1-5386-8094-0
DOI	https://doi.org/10.1109/IROS.2018.8594260
Status	Published - 2018 okt. 4
Evenemang	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid, Spanien Varaktighet: 2018 okt. 1 → 2018 okt. 5

Konferens

Konferens	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Land/Territorium	Spanien
Ort	Madrid
Period	2018/10/01 → 2018/10/05

Ämnesklassifikation (UKÄ)

Robotteknik och automation

Tillgång till dokument

10.1109/IROS.2018.8594260

haptic_IROS18

Andra filer och länkar

dualArmHaptic_video

1 Avslutade
1 Aktiva

Robotlab LTH
Bagge Carlson, F., Dressler, I., Johansson, R., Ghazaei Ardakani, M., Karlsson, M., Linderoth, M., Olofsson, B., Olsson, T., Robertsson, A., Sörnmo, O., Stolt, A., Robertz, S., Haage, M., Malec, J., Nilsson, K., Nugues, P., Stenmark, M., Topp, E. A., Krueger, V., Åström, H., Greiff, M., Klöckner, M., Mayr, M., Sun, Z., Salt Ducaju, J., Nishimura, M., Wisbrant, J., Andersson, L., Dürr, A., Mayr, M., Åström, H., Nugues, P., Klang, M., Klöckner, M., Lager, M., Nardi, L., Ahmad, F., Oxenstierna, J., Rizwan, M., Reichenbach, C., Bergström, J., Dell'Unto, N., Maunsbach, L., Åström, K., Sminchisescu, C., Flood, G., Blomdell, A., Soltesz, K., Magnusson, M., Fransson, P., Karayiannidis, Y., Johansson, A. T., Jia, Z., Laban, L., Wingqvist, B. & Guberina, M.
1993/01/01 → 2029/12/31
Projekt: Forskning
Kirurgens Perspektiv
Maunsbach, L.
2017/12/01 → 2019/11/30
Projekt: Forskning

Robotlab LTH
Anders Robertsson (Manager)
Lunds Tekniska Högskola
Infrastruktur

Citera det här

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. I 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (s. 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. i 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE - Institute of Electrical and Electronics Engineers Inc., s. 8751-8757, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spanien, 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. s. 8751-8757.

Forskningsoutput: Kapitel i bok/rapport/Conference proceeding › Konferenspaper i 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 -

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

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

Sammanfattning

Konferens

Ämnesklassifikation (UKÄ)

Tillgång till dokument

Andra filer och länkar

Fingeravtryck

Projekt

Robotlab LTH

Kirurgens Perspektiv

Utrustning

Robotlab LTH

Citera det här