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Haptic Interface for a Contact Force Controlled Robot

Eriksson, Fredrik and Welander, Marcus (2009) In MSc Theses
Department of Automatic Control
Abstract
The use of haptics in teleoperation and robotics can help the human operator to greatly improve the performance. This master thesis presents a haptic interface between a haptic device, a Phantom Premium A, and an industrial robot, an IRB140B, on which a force sensor was mounted. This will enable a human operator controlling the Phantom to get information about the environment surrounding the IRB140B through the sense of touch. An impedance controller is also introduced in order to avoid too large contact forces in the robot-environment interaction and to obtain a good behavior of the Phantom. The haptic interface was achieved by deriving a general mathematical mapping from the states of a haptic device to these of an industrial robot and... (More)
The use of haptics in teleoperation and robotics can help the human operator to greatly improve the performance. This master thesis presents a haptic interface between a haptic device, a Phantom Premium A, and an industrial robot, an IRB140B, on which a force sensor was mounted. This will enable a human operator controlling the Phantom to get information about the environment surrounding the IRB140B through the sense of touch. An impedance controller is also introduced in order to avoid too large contact forces in the robot-environment interaction and to obtain a good behavior of the Phantom. The haptic interface was achieved by deriving a general mathematical mapping from the states of a haptic device to these of an industrial robot and by implementing that mapping for the Phantom and the IRB140B. To handle the Phantom e.g., the force feedback, a C++ program was developed. The program also features a virtual representation of the IRB140B. The impedance controller for the robot-environment interaction was implemented in Matlab's Simulink. That controller was translated into C code and downloaded to the axis computer of the IRB140B. Everything was connected via a TCP/IP network. Tuning the impedance controller resulted in a stable teleoperation system with haptic feedback to the human operator for the materials touched by the IRB140Be (Less)
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author
Eriksson, Fredrik and Welander, Marcus
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5837
ISSN
0280-5316
language
English
id
8847542
date added to LUP
2016-03-17 10:01:26
date last changed
2016-03-17 10:01:26
@misc{8847542,
  abstract     = {The use of haptics in teleoperation and robotics can help the human operator to greatly improve the performance. This master thesis presents a haptic interface between a haptic device, a Phantom Premium A, and an industrial robot, an IRB140B, on which a force sensor was mounted. This will enable a human operator controlling the Phantom to get information about the environment surrounding the IRB140B through the sense of touch. An impedance controller is also introduced in order to avoid too large contact forces in the robot-environment interaction and to obtain a good behavior of the Phantom. The haptic interface was achieved by deriving a general mathematical mapping from the states of a haptic device to these of an industrial robot and by implementing that mapping for the Phantom and the IRB140B. To handle the Phantom e.g., the force feedback, a C++ program was developed. The program also features a virtual representation of the IRB140B. The impedance controller for the robot-environment interaction was implemented in Matlab's Simulink. That controller was translated into C code and downloaded to the axis computer of the IRB140B. Everything was connected via a TCP/IP network. Tuning the impedance controller resulted in a stable teleoperation system with haptic feedback to the human operator for the materials touched by the IRB140Be},
  author       = {Eriksson, Fredrik and Welander, Marcus},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Haptic Interface for a Contact Force Controlled Robot},
  year         = {2009},
}