Virtual fixture architectures for telemanipulation

  title={Virtual fixture architectures for telemanipulation},
  author={Jake J. Abbott and Allison M. Okamura},
  journal={2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)},
  pages={2798-2805 vol.2}
  • J. Abbott, A. Okamura
  • Published 10 November 2003
  • Computer Science
  • 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
A forbidden-region virtual fixture (FRVF) is a computer-generated constraint that displays position or force limitations to a robot manipulator or operator, in order to prevent motion into forbidden regions of the workspace. We compare nine FRVFs on each of four common telemanipulator control architectures: position forward, position exchange, position forward/force feedback, and position exchange/force feedback. A one-degree-of-freedom telemanipulation system was used in an experiment designed… 

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