Workspace mapping and force control for small haptic device based robot tele-operation

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Conference Proceeding
Proceedings of the 2009 IEEE International Conference on Information and Automation (ICIA2009), 2009, pp. 1613 - 1618
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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 armï½s 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.
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