Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

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 orcid (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:
author
; ; ; and
organization
publishing date
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
LU Robotics Laboratory
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
2021-12-02 08:41:06
@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},
}