Development of a TouchX based teleoperation approach using wave variable technique

In this paper, a teleoperation approach is developed for TouchX device using wave variable technique. The control system employs the 6-DOF (degrees of freedom) Geomagic
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TouchX as a master device, and a 2-DOF simulated robot manipulator as slave. The master device provides user haptic feedback such that the bilateral operation can be achieved for the teleoperation system. To avoid singularity pose during operation, we first defined a constrained workspace for the master device based on its kinematics. In the teleoperation system, the CLIK (closed-loop inverse kinematics) method is used to achieve position control in the Cartesian space. The developed method integrates a corrective wave proportional to the difference between the desired and the fictitious position when in the time-varying delay communication. The system in this control strategy is proven to be stable and the positions of the master and the slave to coincide. And when static contact is made, the reflecting force tracks the reaction force well.