Design of a 6 DOF haptic master for teleoperation of a mobile manipulator (original) (raw)
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Kinematic analysis and design of a 6 DOF haptic master for teleoperation of a mobile manipulator
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
In this paper, a new design of a 6DOF haptic master is presented, and the architectural parameters are discussed in consideration of the kinematic characteristics. This device was intended to teleoperate a mobile manipulator, which requires planar 3 DOF motion for navigation of the vehicle and full 6 DOF motion for manipulation. The proposed haptic master is composed of two parallel mechanisms, and each mechanism offers 3DOF independently. The spatial mechanism, which extends the workspace into 3D, is attached on the planar mechanism for vehicle operation. Since low inertia is vital to back drivability and transparency of the haptic device, all actuators are placed on the base and thus some forces for haptic feedback are transmitted by the tendon-driven mechanism. This paper presents the kinematic analysis of the haptic master with respect to the workspace and the performance indices related to the Jacobian. The actual system was constructed with the architectural parameters determined on the basis of the analysis.
Development of a six DOF haptic master for teleoperation of a mobile manipulator
Mechatronics, 2010
An intuitive controller is needed for easier teleoperation of a slave robot. The mobile manipulation task requires three DOFs for planar mobility and six DOFs for 3-D manipulation. Since existing six DOF haptic devices have not been adequately developed for mobile manipulation, they are inefficient for planar three DOF motion. In this paper, a design for a six DOF haptic master suitable for tasks involving mobile manipulation is presented. The proposed device adopts a separable structure composed of lower and upper mechanisms. The lower parallel mechanism offers three DOFs for planar motion, and the upper parallel mechanism mounted on the lower mechanism provides the remaining three DOFs for a total of six DOFs; thus, the workspace can be extended into a full six DOF representation. This separable feature provided efficient actuation and reduced computational burden since only three actuators were involved in the planar task. Moving bodies should have low inertia to improve the back-drivability and transparency; therefore, all actuators were placed at the base, and torques were delivered via wire-driven transmission. A kinematic analysis was performed, and design parameters were determined through workspace analysis. Various experiments demonstrated that the proposed mechanism was efficient for a planar task, and also adequate for a full 3-D task.
2005
This work concerns the design and development of a six degrees of freedom haptic device. The haptic device is used as the master arm for internet-based teleoperation purposes. For the experimentation, the Stewarl platform, the other parallel mechanism, is used as the slave arm^ The force reflex from the slave arm is transmitted to the operator through the Tendon-Pulley train of the master arm. Virlual guidance can be implemented in the master arm to improve the maneuverability for the operators. Low ineftia, friction force, and backlash are minimized in the design. Singularity is also eliminated. The inverse and forward kinematics as well as the Jacobian of the master arm are derived. The closed-form solution of the forward kinematics can be obtained by installing 9 encoders, instead of 6. The end-point of the master arm is sent to the slave arrn as commands. The slave arm transforms the commands to joint variables by using the inverse kinematics of the slave arm. The experimental r...
This work concerns the design and development of a six degrees of freedom haptic device. The haptic device is used as the master arm for internet-based teleoperation purposes. For the experimentation, the Stewarl platform, the other parallel mechanism, is used as the slave arm^ The force reflex from the slave arm is transmitted to the operator through the Tendon-Pulley train of the master arm. Virlual guidance can be implemented in the master arm to improve the maneuverability for the operators. Low ineftia, friction force, and backlash are minimized in the design. Singularity is also eliminated. The inverse and forward kinematics as well as the Jacobian of the master arm are derived. The closed-form solution of the forward kinematics can be obtained by installing 9 encoders, instead of 6. The end-point of the master arm is sent to the slave arrn as commands. The slave arm transforms the commands to joint variables by using the inverse kinematics of the slave arm. The experimental r...
A New 6DOF Haptic Device for Teleoperation of 6DOF Serial Robots
IEEE Transactions on Instrumentation and Measurement, 2011
A new 6-DOF parallel haptic device is developed and presented in this paper. The haptic device consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low inertia, quick motion, large orientation angles, and large applied torques. Kinematics for position and differential motion is analyzed for the 6-DOF haptic device. Static force relation between the user force and motor torque is also analyzed and implemented on the controller. The control system for the teleoperation of 6-DOF serial robot is developed. The closed loop impedance force control system is analyzed and realized on the digital controller. Tele-operation of a 6-DOF serial robot using this haptic device is demonstrated. Experiments show that dynamic forces caused by the haptic device are well compensated with the closed loop force control.
Analysis and design of haptic telerobotic system
IEE Proceedings - Control Theory and Applications, 2001
A control schemc is derived for a 'master-slavc' telerobotic dynamic system with haptic behaviour. The telerobotic system consists of a 'master' robot, operated by a human ann, and a kinematically identical 'slave' robot, located at a remote site. When the operator moves the handler of the 'master' back and forth, the remote 'slave' niiniics the motion in a constrained or unconstrained environment. The disturbance and reaction forces from the environment and the loads are fed back to the handler of the 'master' and felt by the operator. Thus, the operator gets a feel of what is 'out there' without being 'there'. The advantage of the presented control scheme is the integration of the dynamics of the opcrator arm, actuators, and the environment in the closedloop control system for stability analysis. It is shown that thc cxpeririiental and theoretical results are in good agreement, and that the designed controller is robust to constrained/unconstrained environment and load disturbances. 1 List of symbols .fi7 = force imposed on haptic interface device by operator ,f, =force imposed on haptic interface device by envir-yn2 =position of master y, =position of slave v,, =control input (position) for actuator of master v,, =control input (position) for actuator of slave uh = force of muscle of operator arm U, =force from environment ilr =transfer function of force A, =transfer function of position G, =transfer function of servo motor for master G,, =transfer function of servo motor for slave S, = sensitivity of operator arm force to position S, = sensitivity of environment force to position T/, =transfer function of operator arm impedance T, =transfer function of environment impedance ann onment ci;; IEE, 2001 IEE Prriccedings online no. 20010466
A force-feedback six-degrees-of-freedom wire-actuated master for teleoperation: the WiRo-6.3
Industrial Robot-an International Journal, 2007
Purpose -This paper aims to present an innovative example of a master for teleoperation capable of moving in six degrees of freedom and of providing a force and torque feedback on the operator's hand. Design/methodology/approach -After a brief overview of what the state of the art in teleoperation has to offer, the paper outlines the choice of an innovative structure in terms of both geometry and components, pointing out its main characteristics compared with traditional interfaces. Findings -The master for teleoperation WiRo-6.3 has been designed and constructed and is fully operative, thanks to the following theoretical analyses: positional and orientation workspace(s), forward and inverse kinematics, statics, overall control strategies. The mechanical details are also presented.
3-DOF Trilateral Teleoperation Using a Pair of 1-DOF and 2-DOF Haptic Devices: Stability Analysis
3rd IFAC International Conference on Intelligent Control and Automation Science (2013), 2013
Humans are usually better than autonomous robots in operating in complex environments. In bilateral teleoperation, to take full advantage of the human's intelligence, experience, and sensory inputs for performing a dexterous task, a possibility is to use the two hands of the user to manipulate two master haptic devices in order to control a slave robot with multiple degrees-of-freedom (DOF); the total DOFs of the two masters are equal to the DOFs of the slave. In this paper, two 1-DOF and 2-DOF haptic robots are considered as the two masters while a 3-DOF robot acts as the slave in a trilateral teleoperation system. It is discussed how such a system can result in better task performance by splitting the various DOFs of a dexterous task between two hands or two users, e.g., during peg-in-the-hole insertion. The stability analysis of such a system is not trivial due to dynamic coupling across the different DOFs of the robots, the human operators, and the physical/virtual environments. Also, the unknown dynamics of the users and the environments exacerbate the problem. We present a novel, straightforward and convenient method for stability analysis of this teleoperation system. Simulation results demonstrate the validity of the approach.
Development of a high-performance haptic telemanipulation system with dissimilar kinematics
Advanced Robotics, 2006
This work addresses selected practical issues regarding the development of a telerobotic system for 6 degrees of freedom (DoF) tasks. The system consists of a hyper redundant 10DoF haptic input device ViSHaRD10, a redundant 7DoF manipulator and a stereo vision system. The redundancy of the haptic input device is exploited to assure large convex workspaces and singularity free operation. The anthropomorphic construction of the telemanipulator enables intuitive manipulation and increases the user-friendliness of the overall system. As a practical benchmark an assembly experiment in 6DoF for the case of a negligible time delay was performed. Issues regarding inverse kinematics, spatial interaction control, transparency, and intuitiveness of teleoperation are discussed.
Analysis and Experimentation of a 4-DOF Haptic Device
2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008
This paper presents a new configuration of a haptic device based on a 4-DOF hybrid spherical geometry. The Spherical Parallel Ball Support (SPBS) type device, as it is referred to, consists of a particular design with the intersecting axes of both active and passive spherical joints. The orientation of the device is determined by the mobile platform on the active spherical joint using a special class of spherical 3-DOF parallel geometry. The passive spherical joint (ball and socket configuration) is used to increase the mechanical fidelity of the device. Previously it has been shown that some configurations of this spherical parallel geometry lead to kinematic optimization. We introduce the design consisting of a stylus such as a laparoscopic gripper attached on the mobile platform supporting an additional translational motion. First, the new forward and inverse kinematics analysis is presented. Our work is motivated by deriving a closed-form solution of the kinematics for this proposed device configuration. Then, a closed-loop system framework which can be used for real-time force feedback control is outlined. Finally, preliminary experimental results obtained with the prototype are presented.