Towards a mobile haptic interface for bimanual manipulations

被引：0
|
作者：
Peer, Angelika [1 ]
Komoguchi, Yuta [1 ]
Buss, Martin [1 ]
机构：
[1] Tech Univ Munich, Inst Automat Control Engn, D-8000 Munich, Germany
来源：
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The concept of a mobile haptic interface for bimanual manipulations in 6 d.o.f. is presented. The design of this mobile haptic interface is based on a modular system consisting of two components: two haptic interfaces and a mobile platform. This work mainly addresses the design and control concepts of the haptic interfaces, which are planned to be mounted on the mobile platform. The interfaces dispose of a large workspace and a high force/torque capability. The design and control concepts of these new interfaces enable a decoupling of translational from rotational movements. Such a decoupling helps to simplify significantly the control algorithms which take care of the interaction between mobile platform and haptic interfaces. Evaluation results concerning the Cartesian position tracking performance and the impedance display fidelity provide an insight into the performance of the developed system.
引用
收藏
页码：390 / 397
页数：8
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