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Haptic interactive telerobotics control architecture with iterative solving of inverse kinematics

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3 Author(s)
Bruder, J. ; Dept. of Inf., Univ. of Hamburg, Hamburg, Germany ; Klimentjew, D. ; Jianwei Zhang

This work presents a novel Haptic Telerobot Control System architecture for Interactive Use. This involves different topics of research, like UDP/IP data transmission over a wireless local area network and the use of haptic devices in C++ and Java. A method for permanently solving inverse kinematics with applicable intermediary results is described. The system is integrated into a given service robot environment using a six-degree-of-freedom manipulator. Aspects of transparency and stability are analysed with experimental results. Software design issues of this distributed system with a client server structure are discussed.

Published in:

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Date of Conference:

7-11 Dec. 2011