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Haptic aids for bilateral teleoperators

Pérez Ruíz, Alexander (SpringerSuiza, 2014)

Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping ...
Motion planning for haptic guidance

Pérez Ruiz, Alexander; Rosell, Jan; Vázquez, Carlos; Iñiguez, Pedro (Springer LinkPaíses Bajos, 2008)

Haptic devices allow a user to feel either reaction forces from virtual interactions, or reaction forces reflected from a remote site during a bilateral teleoperation task. Also, guiding forces can be exerted to train the ...

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Haptic aids for bilateral teleoperators
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Pérez Ruíz, Alexander | 2014

Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping between workspaces, the need to avoid collisions of the teleoperated robot with the environment, and the use of the inverse kinematics and of a procedure to correctly manage the passing through singularities. Within a bilateral teleoperation framework to teleoperate an industrial robot with a desktop haptic device, the present work proposes a guiding system based on path planning techniques to cope with these issues. The proposed system also includes a reactive behavior to cope with the potential collisions with obstacles. Teleoperation tests on virtual and real scenarios are included to validate the approach.

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Motion planning for haptic guidance
...
Pérez Ruiz, Alexander | 2008

Haptic devices allow a user to feel either reaction forces from virtual interactions, or reaction forces reflected from a remote site during a bilateral teleoperation task. Also, guiding forces can be exerted to train the user in the performance of a virtual task, or to assist him to safely teleoperate a robot. The generation of guiding forces rely on the existence of a motion plan that provides the direction to be followed to reach the goal from any free configuration of the configuration space (C-space). This paper proposes a method to obtain such a plan that interleaves a sampling-based exploration of C-space with an efficient computation of harmonic functions. A deterministic sampling sequence (with a bias based on harmonic function values) is used to obtain a hierarchical cell decomposition model of C-space. An harmonic function is iteratively computed over the partially known model using a novel approach. The harmonic function is the navigation function used as motion plan. The approach has been implemented in a planner (called Kautham planner) that, given an initial and a goal configuration, it provides: a) a channel of cells connecting the cell that contains the initial configuration with the cell that contains the goal configuration; b) two harmonic functions over the whole C-space: one that guides motions towards the channel and the other that guides motions within the channel towards the goal; c) a path computed over a roadmap built with the free samples of the channel. The harmonic functions and the solution path are then used to generate the guiding forces for the haptic device. The planning approach is illustrated with examples on 2D and 3D workspaces.

LEER