Workspace mapping and force control for small haptic device based robot teleoperation

Chotiprayanakul, P; Liu, DK

Workspace mapping and force control for small haptic device based robot teleoperation

Chotiprayanakul, P Liu, DK

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Publication Type:: Conference Proceeding
Citation:: 2009 IEEE International Conference on Information and Automation, ICIA 2009, 2009, pp. 1613 - 1618
Issue Date:: 2009-11-23

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Field	Value	Language
dc.contributor.author	Chotiprayanakul, P	en_US
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2009-11-23	en_US
dc.identifier.citation	2009 IEEE International Conference on Information and Automation, ICIA 2009, 2009, pp. 1613 - 1618	en_US
dc.identifier.isbn	9781424436088	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11981
dc.description.abstract	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 arm's 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. © 2009 IEEE.	en_US
dc.relation.ispartof	2009 IEEE International Conference on Information and Automation, ICIA 2009	en_US
dc.relation.isbasedon	10.1109/ICINFA.2009.5205175	en_US
dc.title	Workspace mapping and force control for small haptic device based robot teleoperation	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Zhuhai/Macau, China	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	closed_access
pubs.publication-status	Published	en_US

Abstract:

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 arm's 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. © 2009 IEEE.

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http://hdl.handle.net/10453/11981