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A remote handling rate-position controller for telemanipulating in a large workspace

AuthorsBarrio, Jorge; Ferre, Manuel ; Suárez Ruiz, Francisco A. ; Aracil, Rafael
KeywordsRemote handling
Haptic interfaces
Issue Date28-Jan-2014
CitationFusion Engineering and Design 89(1): 25-28 (2014)
AbstractThis paper presents a new Haptic Rate-Position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very e ective when the master device is much smaller than the slave device. 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 slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task.(C) 2013 Elsevier B.V. All rights reserved.
Description4 Pags., 5 Figs. The definitive version is available at: http://www.sciencedirect.com/science/article/pii/S0920379613007011. Preprint submitted to Fusion Engineering and Design. March 17, 2013
Publisher version (URL)http://dx.doi.org/10.1016/j.fusengdes.2013.11.003
Appears in Collections:(CAR) Artículos
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