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Teleoperation of a Robot Using a Haptic Device with Different Kinematics

  • Conference paper
Haptics: Perception, Devices and Scenarios (EuroHaptics 2008)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 5024))

Abstract

This paper presents a bilateral control method by state convergence for teleoperation systems where the master and slave robots do not necessarily have homothetic kinematics. This method uses a virtual robot to relate the kinematics of the master and slave robots. An application of this type of control is also presented in which a robot of three degrees of freedom is teleoperated by using a commercial haptic device with six degrees of freedom.

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References

  1. Aracil, R., Buss, M., Ferre, M., Peer, A., Cobos, S., Hirche, S., Kuschel, M.: The human role in telerobotics. In: Advances in Telerobotics: Human System Interfaces, Control, and Applications. STAR series, Springer, Heidelberg (2007)

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  2. Azorin, J.M., Reinoso, O., Aracil, R., Ferre, M.: Generalized control method by state convergence for teleoperation systems with time delay. Automatica 40(9), 1575–1582 (2004)

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  3. Azorín, J.M., Sabater, J.M., García, N.M., Pérez, C., Aracil, R.: Transparency in the Bilateral Control Methodology by State Convergence. In: International Conference on Control Applications, pp. 175–180. IEEE, Los Alamitos (2006)

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  4. Hokayem, P.F., Spong, M.W.: Bilateral teleoperation: An historical survey. Automatica 42(12), 2035–2057 (2006)

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Author information

Authors and Affiliations

  1. Universidad Politécnica de Madrid, Jóse Gutierrez Abascal 2, 28006, Madrid, Spain

    César Peña, Rafael Aracil & Roque Saltaren

Authors
  1. César Peña
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  2. Rafael Aracil
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  3. Roque Saltaren
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Editor information

Manuel Ferre

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© 2008 Springer-Verlag Berlin Heidelberg

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Peña, C., Aracil, R., Saltaren, R. (2008). Teleoperation of a Robot Using a Haptic Device with Different Kinematics. In: Ferre, M. (eds) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, vol 5024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69057-3_22

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  • DOI: https://doi.org/10.1007/978-3-540-69057-3_22

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-69056-6

  • Online ISBN: 978-3-540-69057-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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