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Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming
- Source :
- IEEE Control Systems Letters, 6, 716-721
- Publication Year :
- 2022
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2022.
-
Abstract
- The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, a new programming method related to the common master-slave approach is introduced, in which the master is replaced by a digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables the haptic rendering of any programmed robot with a serial manipulator on a general-purpose haptic interface. The results show that the proposed haptic rendering reproduces the kinematic properties of the programmed robot and directly provides the desired joint space trajectories. In addition to a stand-alone usage, we demonstrate that the proposed algorithm can be easily paired with existing visual technology for virtual and augmented reality to facilitate a highly immersive programming experience.
- Subjects :
- Robot kinematics
Control and Optimization
Computer science
business.industry
DATA processing & computer science
Robotics
Serial manipulator
Rendering (computer graphics)
Control and Systems Engineering
Visual technology
Robot
Augmented reality
Computer vision
Artificial intelligence
ddc:004
business
ComputingMethodologies_COMPUTERGRAPHICS
Haptic technology
Subjects
Details
- ISSN :
- 24751456
- Volume :
- 6
- Database :
- OpenAIRE
- Journal :
- IEEE Control Systems Letters
- Accession number :
- edsair.doi.dedup.....c1f9a3374ddd23fbb6e7d1eebd569b21