A New 6-DOF Haptic Device for Teleoperation of 6-DOF Serial Robots

作者：Minh Hung Vu^*; Uhn Joo Na

来源：IEEE Transactions on Instrumentation and Measurement, 2011, 60(11): 3510-3523.

DOI：10.1109/TIM.2011.2164285

• Force control
• haptic control
• haptic device
• haptic interface
• master-slave control
• telerobotics
• tele-operation

A new 6-DOF parallel haptic device is developed and presented in this paper. The haptic device consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low inertia, quick motion, large orientation angles, and large applied torques. Kinematics for position and differential motion is analyzed for the 6-DOF haptic device. Static force relation between the user force and motor torque is also analyzed and implemented on the controller. The control system for the teleoperation of 6-DOF serial robot is developed. The closed loop impedance force control system is analyzed and realized on the digital controller. Tele-operation of a 6-DOF serial robot using this haptic device is demonstrated. Experiments show that dynamic forces caused by the haptic device are well compensated with the closed loop force control.

• 出版日期2011-11