Haptic-Based Robot Teleoperation: Interacting with Real Environments
Robot teleoperation via haptic interface has been increasingly studied in recent years. In fact, the capacity to remotely feel the forces being exerted on a robot end-effector is a major advantage for many modern robot applications. This study aims to exp
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Haptic-Based Robot Teleoperation: Interacting with Real Environments Pedro Neto, Ne´lio Mourato, and J. Norberto Pires
Abstract Robot teleoperation via haptic interface has been increasingly studied in recent years. In fact, the capacity to remotely feel the forces being exerted on a robot end-effector is a major advantage for many modern robot applications. This study aims to explore the capabilities of a low-cost haptic device, a force/torque sensor and a commercially available industrial robot, both together for haptic-based robot teleoperation purposes. A ballistic approach is implemented to make the mapping between the motion produced on the haptic device by the operator and the resulting robot motion. Inspired by some studies in the field of robot haptics, the robot and haptic device are connected by a virtual spring, which allows the operator to feel the sensation of pull and push the robot at the same time that teleoperates it. Results related to the process of robot teleoperation and contact with different objects are analyzed and discussed.
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Introduction
Over the last few years, robots have gain new markets and have been used for new applications. In some of these new applications, haptic-based systems can have a fundamental role and in many cases they are the starting point for the evolution of robotics in all the fields where force feedback from the robot is an important issue for the success of the robotic tasks. However, most of the “sophisticated” haptic devices are relatively expensive. This paper discusses a haptic-based robotic system that allows a user to teleoperate a robot and at the same time receives force feedback from the same robot, all of this with a high level of abstraction from the specific robot commands. The proposed
P. Neto (*) • N. Mourato • J.N. Pires Department of Mechanical Engineering (CEMUC) – POLO II, University of Coimbra, 3030-788 Coimbra, Portugal e-mail: [email protected] A. Madureira et al. (eds.), Computational Intelligence and Decision Making: Trends and 111 Applications, Intelligent Systems, Control and Automation: Science and Engineering 61, DOI 10.1007/978-94-007-4722-7_11, # Springer Science+Business Media Dordrecht 2013
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platform is composed by a low-cost haptic device (the Falcon), a commercially available industrial robot, and attached to the robot wrist a 6 DOF force/torque (F/ T) sensor which reports the contact forces from the interaction of the robot endeffector with its surrounding environment. The appearance of the Falcon has allowed an increase of use and diffusion of haptic technology in many different areas. It is possible to say that the great advantage of the Falcon is its price, and in fact, the Falcon has limited control capabilities when compared to other and more professional devices. Nevertheless, as a research tool, the Falcon is a relatively good device that allows to explore most of the capabilities of modern haptic devices. One of the major concerns of today’s robotics has to do with the need for intuitive wa
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