Title :
Telepresence and stability analysis for haptic tele-manipulation with short time delay
Author :
Cortesão, Rui ; Park, Jaeheung ; Khatib, Oussama
Author_Institution :
Inst. of Syst. & Robotics, Coimbra Univ., Portugal
Abstract :
This paper discusses the design of a telemanipulation system for haptic telepresence using Kalman active observers (AOBs). A robotic manipulator is controlled by the human operator through a haptic device. Free space, contact and impact experiments are presented, highlighting the capabilities of compliant motion control with AOBs. Telepresence and stability are analyzed taking into account the control design, the system stiffness and a spring-damper-mass model of the human arm. Haptic manipulation experiments on soft and hard surfaces are presented.
Keywords :
Kalman filters; delays; haptic interfaces; interactive devices; manipulators; motion control; observers; stability; telecontrol; Kalman active observers; Kalman filters; compliant motion control; control design; haptic devices; haptic telemanipulation; human arm; robotic manipulation; robotic manipulator; short time delay; spring-damper-mass model; stability analysis; system stiffness; telepresence; Control design; Delay effects; Haptic interfaces; Humans; Kalman filters; Manipulators; Motion control; Orbital robotics; Robot control; Stability analysis; Compliant Motion Control; Haptics; Kalman Filter; Robotic Manipulation; Telepresence;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545455
