Teleoperation of a robot using a Haptic device with different kinematics

Abstract:

This paper presents a bilateral control method by state convergence for teleoperation systems where the master and slave robots do not necessarily have homothetic kinematics. This method uses a virtual robot to relate the kinematics of the master and slave robots. An application of this type of control is also presented in which a robot of three degrees of freedom is teleoperated by using a commercial haptic device with six degrees of freedom. © 2008 Springer-Verlag Berlin Heidelberg.

Año de publicación:

2008

Keywords:

• Robotic manipulators
• Robot Control
• Haptic
• Telerobotic

Fuente:

scopus