Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface
(2018) 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems p.8751-8757- Abstract
- Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is proposed, where the
operator can sense and act through the robot. This is achieved by coupling two robotic systems with virtual constraints such that they have the same coordinates in the operational space disregarding a fixed offset. Limitations caused by the singular configurations or the reach of the robots are naturally reflected to either side as haptic feedback.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/65476ba5-180b-4ebd-9962-e7fbd012100c
- author
- Ghazaei Ardakani, Mahdi LU ; Karlsson, Martin LU ; Nilsson, Klas LU ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2018-10-04
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- pages
- 7 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
- conference location
- Madrid, Spain
- conference dates
- 2018-10-01 - 2018-10-05
- external identifiers
-
- scopus:85062940788
- ISBN
- 978-1-5386-8094-0
- DOI
- 10.1109/IROS.2018.8594260
- project
- RobotLab LTH
- Kirurgens Perspektiv
- language
- English
- LU publication?
- yes
- id
- 65476ba5-180b-4ebd-9962-e7fbd012100c
- date added to LUP
- 2018-10-08 11:37:15
- date last changed
- 2023-04-08 18:39:31
@inproceedings{65476ba5-180b-4ebd-9962-e7fbd012100c, abstract = {{Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is proposed, where the<br/>operator can sense and act through the robot. This is achieved by coupling two robotic systems with virtual constraints such that they have the same coordinates in the operational space disregarding a fixed offset. Limitations caused by the singular configurations or the reach of the robots are naturally reflected to either side as haptic feedback.}}, author = {{Ghazaei Ardakani, Mahdi and Karlsson, Martin and Nilsson, Klas and Robertsson, Anders and Johansson, Rolf}}, booktitle = {{2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}}, isbn = {{978-1-5386-8094-0}}, language = {{eng}}, month = {{10}}, pages = {{8751--8757}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface}}, url = {{https://lup.lub.lu.se/search/files/52726126/haptic_IROS18.pdf}}, doi = {{10.1109/IROS.2018.8594260}}, year = {{2018}}, }