Telemanipulation of a real manipulator using a virtual hand and haptic feedback device

Norihiro Abe; Kazuaki Tanaka; Takao Horie; Hirokazu Taki

doi:10.1117/12.333680

18 December 1998 Telemanipulation of a real manipulator using a virtual hand and haptic feedback device

Norihiro Abe, Kazuaki Tanaka, Takao Horie, Hirokazu Taki

Proceedings Volume 3524, Telemanipulator and Telepresence Technologies V; (1998) https://doi.org/10.1117/12.333680
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

This paper proposes a system that helps an operator control a manipulator using a direct teleguidance method that allows him to grasp with a data glove and teach the real manipulator to assemble/disassemble mechanical parts. The direct teleguidance is realized by calculating joint angles from the position and orientation of the end effector which are specified with his data glove. Task environment are captured from two pan tilt TV cameras which are controlled according to his head movement, and he can see the stereoscopic image of it through an HMD. When deciding the end effector has approached to an object to be grasped, or a part grasped has come up to a target object, he has only to use a haptic device to continue his operation. The device transmits to him the force and torque valves added to the force torque sensor attached to the end effector. This information allows him to intuitively recognize the state of the effector together with the visual information and makes it possible to precisely control it.

Citation Download Citation

Norihiro Abe, Kazuaki Tanaka, Takao Horie, and Hirokazu Taki "Telemanipulation of a real manipulator using a virtual hand and haptic feedback device", Proc. SPIE 3524, Telemanipulator and Telepresence Technologies V, (18 December 1998); https://doi.org/10.1117/12.333680

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