HapticV1, PascalFrancis, Corpus, bibRecord, 000629

Development of a six DOF haptic master for teleoperation of a mobile manipulator

Identifieur interne : 000629 ( PascalFrancis/Corpus ); précédent : 000628; suivant : 000630

Development of a six DOF haptic master for teleoperation of a mobile manipulator

Auteurs : Dongseok Ryu ; Jae-Bok Song ; Changhyun Cho ; Sungchul Kang ; Munsang Kim

Source :

Mechatronics : (Oxford) [ 0957-4158 ] ; 2010.

RBID : Pascal:10-0232867

Descripteurs français

Pascal (Inist)
- Téléopération, Robotique, Robot mobile, Manipulation, Mécanisme parallèle, Isolation vibration, Tendon, Synthèse commande, Commande force, Manipulateur, Système 3 degrés liberté, Sensibilité tactile, Interface utilisateur, Mobilité, Mécanisme articulé, Appui élastique, Domaine travail, Actionneur, Corps mobile, Cinématique, Etude expérimentale, Dynamique solide, ..

English descriptors

KwdEn :
- Actuator, Control synthesis, Elastic support, Experimental study, Force control, Kinematics, Linkage mechanism, Manipulation, Manipulator, Mobility, Moving body, Moving robot, Parallel mechanism, Remote operation, Robotics, Solid dynamic, System with three degrees of freedom, Tactile sensitivity, Tendon, User interface, Vibration isolation, Workspace.

Abstract

An intuitive controller is needed for easier teleoperation of a slave robot. The mobile manipulation task requires three DOFs for planar mobility and six DOFs for 3-D manipulation. Since existing six DOF haptic devices have not been adequately developed for mobile manipulation, they are inefficient for planar three DOF motion, In this paper, a design for a six DOF haptic master suitable for tasks involving mobile manipulation is presented. The proposed device adopts a separable structure composed of lower and upper mechanisms. The lower parallel mechanism offers three DOFs for planar motion, and the upper parallel mechanism mounted on the lower mechanism provides the remaining three DOFs for a total of six DOFs; thus, the workspace can be extended into a full six DOF representation. This separable feature provided efficient actuation and reduced computational burden since only three actuators were involved in the planar task. Moving bodies should have low inertia to improve the back-drivability and transparency; therefore, all actuators were placed at the base, and torques were delivered via wire-driven transmission. A kinematic analysis was performed, and design parameters were determined through workspace analysis. Various experiments demonstrated that the proposed mechanism was efficient for a planar task, and also adequate for a full 3-D task.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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Format Inist (serveur)

NO :	PASCAL 10-0232867 INIST
ET :	Development of a six DOF haptic master for teleoperation of a mobile manipulator
AU :	RYU (Dongseok); SONG (Jae-Bok); CHO (Changhyun); KANG (Sungchul); KIM (Munsang)
AF :	Department of Mechanical Engineering, Texas A&M University-Corpus Christi/TX/Etats-Unis (1 aut.); School of Mechanical Engineering, Korea University/Seoul/Corée, République de (2 aut.); Department of Control. Instrumentation, and Robot Engineering, Chosun University/Gwangju/Corée, République de (3 aut.); Center for Cognitive Robotics Research, Korea Institute of Science and Technology/Seoul/Corée, République de (4 aut., 5 aut.)
DT :	Publication en série; Niveau analytique
SO :	Mechatronics : (Oxford); ISSN 0957-4158; Royaume-Uni; Da. 2010; Vol. 20; No. 2; Pp. 181-191; Bibl. 26 ref.
LA :	Anglais
EA :	An intuitive controller is needed for easier teleoperation of a slave robot. The mobile manipulation task requires three DOFs for planar mobility and six DOFs for 3-D manipulation. Since existing six DOF haptic devices have not been adequately developed for mobile manipulation, they are inefficient for planar three DOF motion, In this paper, a design for a six DOF haptic master suitable for tasks involving mobile manipulation is presented. The proposed device adopts a separable structure composed of lower and upper mechanisms. The lower parallel mechanism offers three DOFs for planar motion, and the upper parallel mechanism mounted on the lower mechanism provides the remaining three DOFs for a total of six DOFs; thus, the workspace can be extended into a full six DOF representation. This separable feature provided efficient actuation and reduced computational burden since only three actuators were involved in the planar task. Moving bodies should have low inertia to improve the back-drivability and transparency; therefore, all actuators were placed at the base, and torques were delivered via wire-driven transmission. A kinematic analysis was performed, and design parameters were determined through workspace analysis. Various experiments demonstrated that the proposed mechanism was efficient for a planar task, and also adequate for a full 3-D task.
CC :	001D02B04; 001D02D11; 001D12E06; 001B40F10
FD :	Téléopération; Robotique; Robot mobile; Manipulation; Mécanisme parallèle; Isolation vibration; Tendon; Synthèse commande; Commande force; Manipulateur; Système 3 degrés liberté; Sensibilité tactile; Interface utilisateur; Mobilité; Mécanisme articulé; Appui élastique; Domaine travail; Actionneur; Corps mobile; Cinématique; Etude expérimentale; Dynamique solide; .
ED :	Remote operation; Robotics; Moving robot; Manipulation; Parallel mechanism; Vibration isolation; Tendon; Control synthesis; Force control; Manipulator; System with three degrees of freedom; Tactile sensitivity; User interface; Mobility; Linkage mechanism; Elastic support; Workspace; Actuator; Moving body; Kinematics; Experimental study; Solid dynamic
SD :	Teleacción; Robótica; Robot móvil; Manipulación; Mecanismo paralelo; Aislamiento vibración; Tendón; Síntesis control; Control fuerza; Manipulador; Sistema 3 grados libertad; Sensibilidad tactil; Interfase usuario; Movilidad; Mecanismo articulado; Apoyo elástico; Dominio trabajo; Accionador; Cuerpo móvil; Cinemática; Estudio experimental; Dinàmico sólido
LO :	INIST-22113.354000181577100010
ID :	10-0232867

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Pascal:10-0232867

Le document en format XML

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<front><div type="abstract" xml:lang="en">An intuitive controller is needed for easier teleoperation of a slave robot. The mobile manipulation task requires three DOFs for planar mobility and six DOFs for 3-D manipulation. Since existing six DOF haptic devices have not been adequately developed for mobile manipulation, they are inefficient for planar three DOF motion, In this paper, a design for a six DOF haptic master suitable for tasks involving mobile manipulation is presented. The proposed device adopts a separable structure composed of lower and upper mechanisms. The lower parallel mechanism offers three DOFs for planar motion, and the upper parallel mechanism mounted on the lower mechanism provides the remaining three DOFs for a total of six DOFs; thus, the workspace can be extended into a full six DOF representation. This separable feature provided efficient actuation and reduced computational burden since only three actuators were involved in the planar task. Moving bodies should have low inertia to improve the back-drivability and transparency; therefore, all actuators were placed at the base, and torques were delivered via wire-driven transmission. A kinematic analysis was performed, and design parameters were determined through workspace analysis. Various experiments demonstrated that the proposed mechanism was efficient for a planar task, and also adequate for a full 3-D task.</div>
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<s1>© 2010 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>26 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>10-0232867</s0>
</fA47>
<fA60><s1>P</s1>
</fA60>
<fA61><s0>A</s0>
</fA61>
<fA64 i1="01" i2="1"><s0>Mechatronics : (Oxford)</s0>
</fA64>
<fA66 i1="01"><s0>GBR</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>An intuitive controller is needed for easier teleoperation of a slave robot. The mobile manipulation task requires three DOFs for planar mobility and six DOFs for 3-D manipulation. Since existing six DOF haptic devices have not been adequately developed for mobile manipulation, they are inefficient for planar three DOF motion, In this paper, a design for a six DOF haptic master suitable for tasks involving mobile manipulation is presented. The proposed device adopts a separable structure composed of lower and upper mechanisms. The lower parallel mechanism offers three DOFs for planar motion, and the upper parallel mechanism mounted on the lower mechanism provides the remaining three DOFs for a total of six DOFs; thus, the workspace can be extended into a full six DOF representation. This separable feature provided efficient actuation and reduced computational burden since only three actuators were involved in the planar task. Moving bodies should have low inertia to improve the back-drivability and transparency; therefore, all actuators were placed at the base, and torques were delivered via wire-driven transmission. A kinematic analysis was performed, and design parameters were determined through workspace analysis. Various experiments demonstrated that the proposed mechanism was efficient for a planar task, and also adequate for a full 3-D task.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D02B04</s0>
</fC02>
<fC02 i1="02" i2="X"><s0>001D02D11</s0>
</fC02>
<fC02 i1="03" i2="X"><s0>001D12E06</s0>
</fC02>
<fC02 i1="04" i2="X"><s0>001B40F10</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Remote operation</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Teleacción</s0>
<s5>06</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Robotique</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Robotics</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Robótica</s0>
<s5>07</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Robot mobile</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Moving robot</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Robot móvil</s0>
<s5>08</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Manipulation</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Manipulation</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Manipulación</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Mécanisme parallèle</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Parallel mechanism</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Mecanismo paralelo</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Isolation vibration</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Vibration isolation</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Aislamiento vibración</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Tendon</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Tendon</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Tendón</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Synthèse commande</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Control synthesis</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Síntesis control</s0>
<s5>13</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Commande force</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Force control</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Control fuerza</s0>
<s5>14</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Manipulateur</s0>
<s5>18</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Manipulator</s0>
<s5>18</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Manipulador</s0>
<s5>18</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Système 3 degrés liberté</s0>
<s5>19</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>System with three degrees of freedom</s0>
<s5>19</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Sistema 3 grados libertad</s0>
<s5>19</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>User interface</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Mobilité</s0>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Mobility</s0>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Movilidad</s0>
<s5>22</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Mécanisme articulé</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Linkage mechanism</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Mecanismo articulado</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Appui élastique</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Elastic support</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Apoyo elástico</s0>
<s5>24</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Domaine travail</s0>
<s5>25</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Workspace</s0>
<s5>25</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Dominio trabajo</s0>
<s5>25</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Actionneur</s0>
<s5>26</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Actuator</s0>
<s5>26</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Accionador</s0>
<s5>26</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Corps mobile</s0>
<s5>27</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Moving body</s0>
<s5>27</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Cuerpo móvil</s0>
<s5>27</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Cinématique</s0>
<s5>28</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Kinematics</s0>
<s5>28</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Cinemática</s0>
<s5>28</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>33</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>33</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>33</s5>
</fC03>
<fC03 i1="22" i2="X" l="FRE"><s0>Dynamique solide</s0>
<s5>41</s5>
</fC03>
<fC03 i1="22" i2="X" l="ENG"><s0>Solid dynamic</s0>
<s5>41</s5>
</fC03>
<fC03 i1="22" i2="X" l="SPA"><s0>Dinàmico sólido</s0>
<s5>41</s5>
</fC03>
<fC03 i1="23" i2="X" l="FRE"><s0>.</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fN21><s1>158</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 10-0232867 INIST</NO>
<ET>Development of a six DOF haptic master for teleoperation of a mobile manipulator</ET>
<AU>RYU (Dongseok); SONG (Jae-Bok); CHO (Changhyun); KANG (Sungchul); KIM (Munsang)</AU>
<AF>Department of Mechanical Engineering, Texas A&M University-Corpus Christi/TX/Etats-Unis (1 aut.); School of Mechanical Engineering, Korea University/Seoul/Corée, République de (2 aut.); Department of Control. Instrumentation, and Robot Engineering, Chosun University/Gwangju/Corée, République de (3 aut.); Center for Cognitive Robotics Research, Korea Institute of Science and Technology/Seoul/Corée, République de (4 aut., 5 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Mechatronics : (Oxford); ISSN 0957-4158; Royaume-Uni; Da. 2010; Vol. 20; No. 2; Pp. 181-191; Bibl. 26 ref.</SO>
<LA>Anglais</LA>
<EA>An intuitive controller is needed for easier teleoperation of a slave robot. The mobile manipulation task requires three DOFs for planar mobility and six DOFs for 3-D manipulation. Since existing six DOF haptic devices have not been adequately developed for mobile manipulation, they are inefficient for planar three DOF motion, In this paper, a design for a six DOF haptic master suitable for tasks involving mobile manipulation is presented. The proposed device adopts a separable structure composed of lower and upper mechanisms. The lower parallel mechanism offers three DOFs for planar motion, and the upper parallel mechanism mounted on the lower mechanism provides the remaining three DOFs for a total of six DOFs; thus, the workspace can be extended into a full six DOF representation. This separable feature provided efficient actuation and reduced computational burden since only three actuators were involved in the planar task. Moving bodies should have low inertia to improve the back-drivability and transparency; therefore, all actuators were placed at the base, and torques were delivered via wire-driven transmission. A kinematic analysis was performed, and design parameters were determined through workspace analysis. Various experiments demonstrated that the proposed mechanism was efficient for a planar task, and also adequate for a full 3-D task.</EA>
<CC>001D02B04; 001D02D11; 001D12E06; 001B40F10</CC>
<FD>Téléopération; Robotique; Robot mobile; Manipulation; Mécanisme parallèle; Isolation vibration; Tendon; Synthèse commande; Commande force; Manipulateur; Système 3 degrés liberté; Sensibilité tactile; Interface utilisateur; Mobilité; Mécanisme articulé; Appui élastique; Domaine travail; Actionneur; Corps mobile; Cinématique; Etude expérimentale; Dynamique solide; .</FD>
<ED>Remote operation; Robotics; Moving robot; Manipulation; Parallel mechanism; Vibration isolation; Tendon; Control synthesis; Force control; Manipulator; System with three degrees of freedom; Tactile sensitivity; User interface; Mobility; Linkage mechanism; Elastic support; Workspace; Actuator; Moving body; Kinematics; Experimental study; Solid dynamic</ED>
<SD>Teleacción; Robótica; Robot móvil; Manipulación; Mecanismo paralelo; Aislamiento vibración; Tendón; Síntesis control; Control fuerza; Manipulador; Sistema 3 grados libertad; Sensibilidad tactil; Interfase usuario; Movilidad; Mecanismo articulado; Apoyo elástico; Dominio trabajo; Accionador; Cuerpo móvil; Cinemática; Estudio experimental; Dinàmico sólido</SD>
<LO>INIST-22113.354000181577100010</LO>
<ID>10-0232867</ID>
</server>
</inist>
</record>

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Development of a six DOF haptic master for teleoperation of a mobile manipulator

Development of a six DOF haptic master for teleoperation of a mobile manipulator

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