A New 6-DOF Haptic Device for Teleoperation of 6-DOF Serial Robots

Author

Vu, Minh Hung ; Na, Uhn Joo

Author_Institution

Sch. of Mech. Eng. & Autom., Kyungnam Univ., Masan, South Korea

Volume

60

Issue

11

fYear

2011

Firstpage

3510

Lastpage

3523

Abstract

A new 6-DOF parallel haptic device is developed and presented in this paper. The haptic device consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low inertia, quick motion, large orientation angles, and large applied torques. Kinematics for position and differential motion is analyzed for the 6-DOF haptic device. Static force relation between the user force and motor torque is also analyzed and implemented on the controller. The control system for the teleoperation of 6-DOF serial robot is developed. The closed loop impedance force control system is analyzed and realized on the digital controller. Tele-operation of a 6-DOF serial robot using this haptic device is demonstrated. Experiments show that dynamic forces caused by the haptic device are well compensated with the closed loop force control.

Keywords

closed loop systems; digital control; force control; haptic interfaces; telerobotics; 3-DOF parallel structures; 6-DOF haptic device; 6-DOF serial robots; DOF parallel haptic device; closed loop impedance force control system; differential motion kinematics; digital controller; motor torque; position kinematics; static force; teleoperation; user force; Force control; Haptic interfaces; Master-slave; Teleoperators; Telerobotics; Force control; haptic control; haptic device; haptic interface; master-slave control; tele-operation; telerobotics;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/TIM.2011.2164285

Filename

6021367