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Abstract
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| 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. | |
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International
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Si |
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978-1-4673-1737-5 |
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Entity
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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
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Entity Nationality
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Sin nacionalidad |
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Place
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Vilamoura, Portugal |