Paper Info
Title
A rate-position haptic controller for large telemanipulation workspaces.
Abstract
This paper presents a new Haptic Rate-Position controller, which allows manipulating a slave robot in a large workspace. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a virtual slave robot, simulated with Open Dynamics Engine (ODE). A real IFMIF (International Fusion Materials Irradiation Facility) remote handling task has been simulated. Its goal is to carry out remote manipulation of test irradiated materials in a nuclear environment. The proposed algorithm has been compared with the classic Position controller in a Pick & Place manipulation and has shown much better levels of effectiveness.
Year
DOI
Venue
2012
10.1109/IROS.2012.6385633
IROS
Keywords
Field
DocType
fusion reactor materials,haptic interfaces,manipulators,position control,remote handling,telerobotics,ODE,Phantom,classic position controller,haptic device,haptic information,haptic rate-position controller,international fusion materials irradiation facility remote handling task,large remote workspace,large telemanipulation workspaces,nuclear environment,open dynamics engine,operation mode change,pick & place manipulation,rate-position haptic controller,real IFMIF,slave robot manipulation,test irradiated materials,virtual slave robot
Control theory,Workspace,Computer science,Simulation,Imaging phantom,Control engineering,International Fusion Materials Irradiation Facility,Robot,Telerobotics,Haptic technology,Ode
Conference
ISSN
Citations 
PageRank 
2153-0858
1
0.37
References 
Authors
0
4
Name
Order
Citations
PageRank
Jorge Barrio1453.12
Francisco Suarez-Ruiz221.73
Manuel Ferre327049.78
Rafael Aracil413523.73