A haptic base human robot interaction approach for robotic grit blasting

Chotiprayanakul, P; Wang, D; Kwok, N; Liu, D

A haptic base human robot interaction approach for robotic grit blasting

Chotiprayanakul, P Wang, D Kwok, N Liu, D

Permalink

Publication Type:: Conference Proceeding
Citation:: ISARC 2008 - Proceedings from the 25th International Symposium on Automation and Robotics in Construction, 2008, pp. 148 - 154
Issue Date:: 2008-12-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download full textAdobe PDF (1.42 MB)

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Chotiprayanakul, P	en_US
dc.contributor.author	Wang, D	en_US
dc.contributor.author	Kwok, N	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2008-12-01	en_US
dc.identifier.citation	ISARC 2008 - Proceedings from the 25th International Symposium on Automation and Robotics in Construction, 2008, pp. 148 - 154	en_US
dc.identifier.isbn	9789955283294	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11971
dc.description.abstract	This paper proposes a remote operation method for a robot arm in a complex environment by using the Virtual Force (VF) based approach. A virtual robot arm is manipulated by a steering force, at the end-effecter, which is generated according to the movement of a feedback haptic. A three-dimensional force field (3D-F2) is employed in collision detection and avoidance. Repulsive forces from the 3D-F2 are produced and feedback to the haptic device that enables the operator to have a sense of touch on the encountered obstacle and then steer the arm to avoid it. As a result, collision-free poses of the virtual robot arm can then be used to command the real robot. Experiments are conducted in a mock up bridge environment where the real robot arm is steered to target points by the operator. Experiment results have shown successful collision avoidance and emulation of the actual command force and the virtual forces in remote operations.	en_US
dc.relation.ispartof	ISARC 2008 - Proceedings from the 25th International Symposium on Automation and Robotics in Construction	en_US
dc.title	A haptic base human robot interaction approach for robotic grit blasting	en_US
dc.type	Conference Proceeding
utslib.for	0905 Civil Engineering	en_US
dc.location.activity	Vilnius, Lithuania	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

This paper proposes a remote operation method for a robot arm in a complex environment by using the Virtual Force (VF) based approach. A virtual robot arm is manipulated by a steering force, at the end-effecter, which is generated according to the movement of a feedback haptic. A three-dimensional force field (3D-F2) is employed in collision detection and avoidance. Repulsive forces from the 3D-F2 are produced and feedback to the haptic device that enables the operator to have a sense of touch on the encountered obstacle and then steer the arm to avoid it. As a result, collision-free poses of the virtual robot arm can then be used to command the real robot. Experiments are conducted in a mock up bridge environment where the real robot arm is steered to target points by the operator. Experiment results have shown successful collision avoidance and emulation of the actual command force and the virtual forces in remote operations.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/11971