Title :
A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator
Author :
Christiansson, Göran A V ; Fritz, Erik C.
Author_Institution :
Delft Haptics Lab., Delft Univ. of Technol.
Abstract :
A novel planar 3-degree of freedom (DOF) haptic teleoperator based on the "hard-soft" principle is presented. The mechatronic concept of using a stiff master and a compliant slave has previously been shown to improve haptic teleoperation performance in 1-dof teleoperation, and the concept can now be experimentally verified for more realistic tasks. The master device consists of a stiff double-rhomb force-redundant parallel robot and the slave device is a serial robot with flexible joints. Identification experiments show that the teleoperation setup can achieve high stiffness (>1.5 N/mm)for the master side and low stiffness on the slave side (0.100 N/mm)
Keywords :
mechatronics; robot dynamics; telerobotics; compliant slave; hard-soft principle; mechatronic concept; planar 3-DOF hard-soft haptic teleoperator; serial robot; stiff double-rhomb force-redundant parallel robot; stiff master; Assembly; Bandwidth; Costs; Frequency; Haptic interfaces; Humans; Master-slave; Mechatronics; Parallel robots; Teleoperators;
Conference_Titel :
EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint
Conference_Location :
Tsukaba
Print_ISBN :
0-7695-2738-8
DOI :
10.1109/WHC.2007.11
