Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming
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 achiev...
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| Veröffentlicht in: | IEEE control systems letters 2022, Vol.6, p.716-721 |
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| container_title | IEEE control systems letters |
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| creator | Fennel, Michael Zea, Antonio Mangler, Johannes Roennau, Arne Hanebeck, Uwe D. |
| description | 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. |
| doi_str_mv | 10.1109/LCSYS.2021.3086059 |
| format | Article |
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| subjects | control applications Haptic interfaces haptics human-in-the-loop control Kinematics Manipulators Programming Rendering (computer graphics) Robot kinematics Robotics Robots |
| title | Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming |
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