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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Bibliographische Detailangaben

Veröffentlicht in:	IEEE control systems letters 2022, Vol.6, p.716-721
Hauptverfasser:	Fennel, Michael, Zea, Antonio, Mangler, Johannes, Roennau, Arne, Hanebeck, Uwe D.
Format:	Artikel
Sprache:	eng
Schlagworte:	control applications Haptic interfaces haptics human-in-the-loop control Kinematics Manipulators Programming Rendering (computer graphics) Robot kinematics Robotics Robots
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