Abstract
There is an increasing number of applications (e.g. building construction and sport camera systems) for cable-driven parallel robots (CDPRs) due to its large workspace feature. Although the autonomous operations of the CDPRs is well studied, human command of the robots (teleoperation) is still very crucial to provide the intelligent decision for complicated tasks and dynamic environments. However, existing teleoperation schemes struggle to provide both fast and accurate commands of CDPRs that typically operate within large workspaces. Thus, we developed a novel dual joystick-trackball interface for the teleoperation of the CDPRs. The simulation and the hardware tests demonstrate the potential of the dual interface to maximize the accuracy and time-efficiency of the teleoperation of the CDPRs.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Lau, D., Oetomo, D., and Halgamuge, S. K. “Generalized modeling of multilink cable-driven manipulators with arbitrary routing using the cable-routing matrix”. In: IEEE Transactions on Robotics 29.5 (2013), pp. 1102–1113.
Gouttefarde, M. and Gosselin, C. M. “Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms”. In: IEEE Transactions on Robotics 22.3 (2006), pp. 434–445.
Pham, C. B., Yeo, S. H., Yang, G., Kurbanhusen, M. S., and Chen, I.-M. “Forceclosure workspace analysis of cable-driven parallel mechanisms”. In: Mechanism and Machine Theory 41.1 (2006), pp. 53–69.
Eden, J., Tan, Y., Lau, D., and Oetomo, D. “On the positive output controllability of linear time invariant systems”. In: Automatica 71 (2016), pp. 202–209.
Oh, S.-R. and Agrawal, S. K. “Cable suspended planar robots with redundant cables: Controllers with positive tensions”. In: IEEE Transactions on Robotics 21.3 (2005), pp. 457–465.
Zi, B., Duan, B., Du, J., and Bao, H. “Dynamic modeling and active control of a cable-suspended parallel robot”. In: Mechatronics 18.1 (2008), pp. 1–12.
Skycam, Advanced technology.@ONLINE. Sept. 2018. http://www.skycam.tv/.
Wu, Y., Cheng, H. H., Fingrut, A., Crolla, K., Yam, Y., and Lau, D. “CU-brick cable-driven robot for automated construction of complex brick structures: From simulation to hardware realisation”. In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018 IEEE International Conference on IEEE. 2018, pp. 166–173.
Tempel, P., Herve, P.-E., Tempier, O., Gouttefarde, M., and Pott, A. “Estimating inertial parameters of suspended cable-driven parallel robots—Use case on CoGiRo”. In: Robotics and Automation (ICRA), 2017 IEEE International Conference on. IEEE. 2017, pp. 6093–6098.
Khatib, O., Yeh, X., Brantner, G., Soe, B., Kim, B., Ganguly, S., Stuart, H., Wang, S., Cutkosky, M., Edsinger, A., et al. “Ocean one: A robotic avatar for oceanic discovery”. In: IEEE Robotics & Automation Magazine 23.4 (2016), pp. 20–29.
Marques, C., Cristóvao, J., Alvito, P., Lima, P., Frazao, J., Ribeiro, I., and Ventura, R. “A search and rescue robot with tele-operated tether docking system”. In: Industrial Robot: An International Journal 34.4 (2007), pp. 332–338.
Taylor, R. H., Menciassi, A., Fichtinger, G., Fiorini, P., and Dario, P. “Medical robotics and computer-integrated surgery”. In: Springer handbook of robotics. Springer, 2016, pp. 1657–1684.
Schill, F., Hou, X., Mahony, R., et al. “Admittance mode framework for haptic teleoperation of hovering vehicles with unlimited workspace”. In: Proc. Aust. Conf. Robot. Autom. (ACRA). 2010, pp. 1–7.
Hou, X. and Mahony, R. “An intuitive multimodal haptic interface for teleoperation of aerial robots”. In: Robotics and Automation (ICRA), 2014 IEEE International Conference on. IEEE. 2014, pp. 838–845.
Diolaiti, N. and Melchiorri, C. “Teleoperation of a mobile robot through haptic feedback”. In: Haptic Virtual Environments and Their Applications, IEEE International Workshop 2002 HAVE. IEEE. 2002, pp. 67–72.
Conti, F. and Khatib, O. “Spanning large workspaces using small haptic devices”. In: First Joint Eurohaptics Conference and Symposium on Haptic Inter-faces for Virtual Environment and Teleoperator Systems. World Haptics Conference. IEEE. 2005, pp. 183–188.
Rüesch, A., Mersha, A. Y., Stramigioli, S., and Carloni, R. “Kinetic scrollingbased position mapping for haptic teleoperation of unmanned aerial vehicles”. In: Robotics and Automation (ICRA), 2012 IEEE International Conference on. IEEE. 2012, pp. 3116–3121.
Eden, J., Lau, D., Tan, Y., and Oetomo, D. “Available acceleration set for the study of motion capabilities for cable-driven robots”. In: Mechanism and Machine Theory 105 (2016), pp. 320–336.
Lau, D., Eden, J., Halgamuge, S. K., and Oetomo, D. “Cable function analysis for the musculoskeletal static workspace of a human shoulder”. In: Cable-Driven Parallel Robots. Springer, 2015, pp. 263–274.
Lau, D., Bhalerao, K., Oetomo, D., and Halgamuge, S. K. “On the task specific evaluation and optimisation of cable-driven manipulators”. In: Advances in reconfigurable mechanisms and robots I. Springer, 2012, pp. 707–716.
Pott, A. “Efficient Computation of the Workspace Boundary, Its Properties and Derivatives for Cable-Driven Parallel Robots”. In: Computational Kinematics. Springer, 2018, pp. 190–197.
Lau, D., Eden, J., Tan, Y., and Oetomo, D. “CASPR: A comprehensive cablerobot analysis and simulation platform for the research of cable-driven parallel robots”. In: Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE. 2016, pp. 3004–3011.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Ng, K.W., Mahony, R., Lau, D. (2019). A Dual Joystick-Trackball Interface for Accurate and Time-Efficient Teleoperation of Cable-Driven Parallel Robots within Large Workspaces. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-030-20751-9_33
Download citation
DOI: https://doi.org/10.1007/978-3-030-20751-9_33
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20750-2
Online ISBN: 978-3-030-20751-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)