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Tele-operation of a 6-DOF serial robot using a new 6-DOF haptic interface

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2 Author(s)
Vu Minh Hung ; School of Mechanical Engineering and Automation, Kyungnam University, Masan, Korea ; Uhn Joo Na

This paper presents the kinematic analysis of a new 6-DOF haptic interface and control system analysis for the tele-operation of 6-DOF serial robot. The haptic interface consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low mass moment of inertia, quick motion, big rotation, and large applied torques. Kinematics for position and differential motion are developed for the 6-DOF haptic interface. Tele-operation of a 6-DOF serial manipulator using this haptic interface is demonstrated. Experiment results provide comparison of trajectories and forces/torques between 6-DOF haptic interface and 6-DOF serial robot on the Cartesian space.

Published in:

Haptic Audio-Visual Environments and Games (HAVE), 2010 IEEE International Symposium on

Date of Conference:

16-17 Oct. 2010