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Romansy 14 pp 109-118 | Cite as

Admittance Model Haptic Interaction for Large Workspace Teleoperation

  • Fabio Antoniazzi
  • Paolo Gallina
  • Alessandro Gasparetto
  • Giulio Rosati
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)

Abstract

This paper presents a control method for scaled teleoperation where the slave workspace is larger than the master one. In future, the results of this paper will be employed in a joystick for excavator controlling. The whole system is made up of a haptic master device and a virtual slave one. The master device consists in an 1 D.o.F. joystick provided with a shaft mounted torque sensor. The scaled force the human operator exerts on the master device commands the slave device input force. Conversely, the master position follows the slave position. In this way, a realistic feeling of the remote environment is provided. A virtual damping force proportional to the slave speed is introduced into the slave control in order to improve the teleoperation. The theoretical approach has been validated with experimental results.

Keywords

Contact Force Haptic Interaction Short Dash Master Device Large Workspace 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Fabio Antoniazzi
    • 1
  • Paolo Gallina
    • 1
  • Alessandro Gasparetto
    • 2
  • Giulio Rosati
    • 1
  1. 1.Dipartimento di Innovazione Meccanica e GestionaleUniversity of PadovaItaly
  2. 2.Dipartimento di Ingegneria Elettrica, Gestionale e MeccanicaUniversity of UdineItaly

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