Workspace Mapping and Force Control for Small Haptic Device based Robot Teleoperation

摘要：

When a large robot manipulator is remotely controlled by means of a small haptic device, there are two issues which should be addressed: mapping of robot arm workspace and haptic device workspace, and accurate and safe control of the movement of the robot arm. This paper presents a haptic device workspace spanning control method for haptic-based teleoperation. The spanning control method includes haptic-space scaling control, drift control and edge motion control. A force control algorithm is also presented to control the robot arms motion in complex 3D environments. Experimental results demonstrate that the mapping method and the force control algorithm can remotely control a robot arm to rapidly reach target positions, minimize the oscillation of the haptic device handle, achieve accurate positioning and provide the operator with efficient touch sensing.

作者: P. Chotiprayanakul D.K. Liu

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 1613-1618

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）