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[130] Citation: Abstract
This paper describes a study of whether haptic feedback can be used
to represent information that is normally difficult to obtain via visual
feedback in telerobotic system. Problems of manipulator kinematic
condition such as singularity and joint limit have been well known for a
long time. Kinematic condition of the manipulator is difficult to be
recognized visually. Poor kinematic condition often causes trajectory
error or other undesirable effects in the system. This problem is quite
significant in telerobotics since a fully pre-planned path that
completely excludes poor kinematic condition is usually not available.
In this paper, the haptic representation for singularity and joint
limit condition is introduced. The proposed haptic feedback allows the
operator to be able to identify poor kinematic condition of the slave
manipulator, and naturally recommends the suitable solution to the
problem in real-time. Teleoperation experiment was conducted in order to
validate and evaluate the proposed theoretical framework.
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Updated: Tue Jul 15 23:54:51 2008
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