Development of a high-performance haptic telemanipulation system with dissimilar kinematics

  title={Development of a high-performance haptic telemanipulation system with dissimilar kinematics},
  author={Bartlomiej Stanczyk and Angelika Peer and Martin Buss},
  journal={Advanced Robotics},
  pages={1303 - 1320}
This work addresses selected practical issues regarding the development of a telerobotic system for 6-d.o.f. tasks. The system consists of a hyper-redundant 10-d.o.f. haptic input device ViSHaRD10, a redundant 7-d.o.f. manipulator and a stereo vision system. The redundancy of the haptic input device is exploited to assure large convex workspaces and singularity-free operation. The anthropomorphic construction of the telemanipulator enables intuitive manipulation and increases the user… 

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The proposed manipulation system, aimed for 3-D applications, provides two kinds of assistance, one to enhance the linkage between the user and robot manipulator via the haptic clue, and the other to guide the movement of the user during task execution via a set of virtual tools.

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    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2009
A two-master control approach is proposed in which the first master transparently controls the redundant slave end-effector in the task space, denoted as the primary task, and a second master exploits the slave redundancy to perform a secondary task such as obstacle avoidance or internal position control.

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  • Engineering
    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
  • 2004
This work addresses the manipulation and control problems of a teleoperated redundant manipulator with 6 degrees of freedom kinesthetic feedback, issues regarding kinematic control, compliant motion, transparency, and intuitiveness of teleoperation are discussed.

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Hardware experiments evaluating the closed loop performance and the capability of the inverse kinematics solution to avoid singular configurations confirm the applicability of the proposed design and control concept for human haptic interaction.

VISHARD10, a novel hyper-redundant haptic interface

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  • Engineering
    12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.
  • 2004
The design of a novel hyper-redundant haptic interface with 10 degrees-of-freedom (DOF) is presented and an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved.

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  • 1989
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    Proceedings., IEEE International Conference on Robotics and Automation
  • 1990
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