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

被引：46
作者：
Minh Hung Vu [1 ]
Uhn Joo Na [1 ]
机构：
[1] Kyungnam Univ, Sch Mech Engn & Automat, Masan 630701, South Korea
来源：
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT | 2011年 / 60卷 / 11期
关键词：
Force control; haptic control; haptic device; haptic interface; master-slave control; telerobotics; tele-operation; FORCE CONTROL; DESIGN; MASTER;
D O I：
10.1109/TIM.2011.2164285
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
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.
引用
收藏
页码：3510 / 3523
页数：14
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