Constraint coupling of force and motion between real and virtual mechanisms

Greg R. Luecke; Naci Zafer

doi:10.1117/12.417317

2 March 2001 Constraint coupling of force and motion between real and virtual mechanisms

Greg R. Luecke, Naci Zafer

Proceedings Volume 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII; (2001) https://doi.org/10.1117/12.417317
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

In the approach presented in this research, a six DOF industrial manipulator is used as the master device to provide haptic feedback to the operator. In order develop effective constraints between the motion of the slave and master, a virtual manipulator concept is developed that couples the actual robotic kinematics with the constraints of the simulated slave manipulator. The position and velocity errors between the actual and virtual mechanisms are used to develop an optimal impedance controller that constrains the motion of the master in all directions that are orthogonal to the allowable motions of the slave. This approach allows the use of a conventional industrial manipulator as an effective haptic display device.

Citation Download Citation

Greg R. Luecke and Naci Zafer "Constraint coupling of force and motion between real and virtual mechanisms", Proc. SPIE 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, (2 March 2001); https://doi.org/10.1117/12.417317

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