Kinematic Analysis and Design of a 6 DOF Haptic Master for Teleoperation of a Mobile Manipulator

Dongseok Ryu, Changhyun Cho, Munsang Kim, Jae Bok Song

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

In this paper, a new design of a 6DOF haptic master is presented, and the architectural parameters are discussed in consideration of the kinematic characteristics. This device was intended to teleoperate a mobile manipulator, which requires planar 3 DOF motion for navigation of the vehicle and full 6 DOF motion for manipulation. The proposed haptic master is composed of two parallel mechanisms, and each mechanism offers 3DOF independently. The spatial mechanism, which extends the workspace into 3D, is attached on the planar mechanism for vehicle operation. Since low inertia is vital to back-drivability and transparency of the haptic device, all actuators are placed on the base and thus some forces for haptic feedback are transmitted by the tendon-driven mechanism. This paper presents the kinematic analysis of the haptic master with respect to the workspace and the performance indices related to the Jacobian. The actual system was constructed with the architectural parameters determined on the basis of the analysis.

Original languageEnglish
Pages2235-2240
Number of pages6
Publication statusPublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Ryu, D., Cho, C., Kim, M., & Song, J. B. (2003). Kinematic Analysis and Design of a 6 DOF Haptic Master for Teleoperation of a Mobile Manipulator. 2235-2240. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.