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Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface

Ghazaei Ardakani, Mahdi LU ; Karlsson, Martin LU ; Nilsson, Klas LU ; Robertsson, Anders LU and Johansson, Rolf LU (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.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
pages
7 pages
conference name
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
conference location
Madrid, Spain
conference dates
2018-10-01 - 2018-10-05
language
English
LU publication?
yes
id
65476ba5-180b-4ebd-9962-e7fbd012100c
date added to LUP
2018-10-08 11:37:15
date last changed
2018-11-21 21:42:10
@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},
  language     = {eng},
  location     = {Madrid, Spain},
  month        = {10},
  pages        = {8751--8757},
  title        = {Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface},
  year         = {2018},
}