Application of Haptic Virtual Fixtures on Hot-Line Work Robot-Assisted Manipulation

  • Yutao Chen
  • Jing Zhu
  • Min Xu
  • Hao Zhang
  • Xuming Tang
  • Erbao DongEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11743)


This paper presents a teleoperation system combines with force feedback. The teleoperation system is mainly composed of the 6-DOF Geomagic Touch haptic device, the simulation environment and the 6-DOF UR5 manipulator. We analyzed the forward kinematics of master and slave manipulators, then we calculated the workspace of the UR5 arms. The slave manipulator is controlled by using incremental displacement and incremental rotation strategies in a space Cartesian coordinate system. Creating virtual fixtures is a way to reduce operator error and guide operator to complete tasks efficiently in teleoperation. So we built the virtual environment in simulation software based on the real environment, used a certain length of angle steel as a dangerous area in live working of distribution network, and a forbidden-region virtual fixture was established to avoid the collision of the manipulator with the steel. We tested the delay and accuracy of the system through experiments. In addition, we verified the feasibility of the designed virtual fixture.


Hot line work robot Teleoperation Master-slave control Virtual fixture 



The authors would like to thank Qiqiang Hu for his assistance in performing the experiments reported in this paper. The authors also thank Yin Zhu for his suggestion on the paper. The work is supported by the National Key R&D Program of China (2018YFB1307400).


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Yutao Chen
    • 1
  • Jing Zhu
    • 1
  • Min Xu
    • 1
  • Hao Zhang
    • 2
  • Xuming Tang
    • 2
  • Erbao Dong
    • 1
    Email author
  1. 1.CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision InstrumentationUniversity of Science and Technology of ChinaHefeiChina
  2. 2.Huainan Power Supply Company, Anhui Electric Power Co., Ltd.HuainanChina

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