Design of a 6 DOF haptic master for teleoperation of a mobile manipulator

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 3243-3248

  Ryu, Dongseok ^a,b   Cho, Changhyun ^a,b   Kim, Munsang ^a   Song, Jae Bok ^b  

^a Korea Institute of Science and Technology   (South Korea)

^b Korea University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; COMPUTATIONAL COMPLEXITY; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; KINEMATICS; MANIPULATORS; MATRIX ALGEBRA; MECHANISMS; MOBILE ROBOTS; MOTION PLANNING; VECTORS; VIRTUAL REALITY;

HAPTIC MASTER; JACOBIAN ANALYSIS; MOBILE MANIPULATOR; TELEOPERATION; TENDON DRIVEN MECHANISM;

HAPTIC INTERFACES;

EID: 0344033834     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. G. Burdea, Force and touch feedback for virtual reality, A Wiley-Interscience Publication, 1996.
2. D.A. Lawrence, and J.D. Chapel, "Performance trade-offs for hand controller design," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3211-3216, 1994.
3. J. E. Colgate, and J. M. Brown, "Factors affecting the Z-width of a haptic display," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3205-3210, 1994.
4. G.L. Long, and C.L. Collins, "A pantograph linkage parallel platform master hand controller for force-reflection," Proc. of IEEE Int. Conf. on Robotics and Automation, p. 390-395, 1992.
5. H. Nomo, and H. Iwata, "Presentation of multiple dimensional data by 6 DOF force display," Proc. of IEEE Int. Conf. on Intelligent Robots and System, pp. 1495-1500, 1993.
6. Y. Tsumaki, H. Naruse, D. N. Nenchev, and M. Uchiyama, "Design of a compact 6-DOF haptic interface," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2580-2585, 1998.
7. L.-W. Tsai, Robot analysis: The mechanics of serial and parallel manipulators, A Wileys-Interscience Publication, 1999.
8. C., Gosselin, and J., Angeles "The optimum kinematic design of a planar three degree of freedom parallel manipulator," ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol.110, pp. 35-41, 1988.
9. J.A. Carretero, M. Naho, and R.P. Podhorodeski, "Workspace analysis of a 3-dof parallel mechanism," Proc. of IEEE Int. Conf. on Intelligent Robots and System, pp. 1021-1026, 1998.
10. L.-W. Tsai and S. Joshi, "Comparison study of architectures of four 3 degree-of-freedom translational parallel manipulator", Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1283-1288, 2001.
11. E. Ottaviano, C. Gosselin, and M. Ceccareli, "Singularity analysis of CaPaMan: A three-degree of freedom spatial parallel manipulator," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1295-1300.
12. T., Massie, and K. Salisbury, "The PHANTOM haptic interface: a device for probing virtual objects" ASME Winter Annual Meeting, DSC-Vol.55-1, pp.295-300, 1994.