Augmented Haptics of Manipulator Kinematic Condition

Maneewarn, T. and Hannaford, B. (1999) Augmented Haptics of Manipulator Kinematic Condition. In: Proc. SPIE Telemanipulator Workshop.

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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. <p> 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.

Item Type: Conference or Workshop Item (Paper)
Subjects: D Haptics
Divisions: Department of Electrical Engineering
Depositing User: Muneaki Miyasaka
Date Deposited: 27 Jul 2015 23:44
Last Modified: 27 Jul 2015 23:44
URI: http://brl.ee.washington.edu/eprints/id/eprint/200

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