Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System
The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system comb...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2007-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320701848746 |
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| _version_ | 1832565834162110464 |
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| author | Juan Manuel Ibarra-Zannatha Claudia Marmolejo-Rivas Manuel Ferre-Pérez Rafael Aracil-Santonja Salvador Cobos-Guzmán |
| author_facet | Juan Manuel Ibarra-Zannatha Claudia Marmolejo-Rivas Manuel Ferre-Pérez Rafael Aracil-Santonja Salvador Cobos-Guzmán |
| author_sort | Juan Manuel Ibarra-Zannatha |
| collection | DOAJ |
| description | The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed. |
| format | Article |
| id | doaj-art-0b82821abe3147ae843a53c318a9c95d |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2007-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-0b82821abe3147ae843a53c318a9c95d2025-02-03T01:06:18ZengWileyApplied Bionics and Biomechanics1176-23221754-21032007-01-014415716810.1080/11762320701848746Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation SystemJuan Manuel Ibarra-Zannatha0Claudia Marmolejo-Rivas1Manuel Ferre-Pérez2Rafael Aracil-Santonja3Salvador Cobos-Guzmán4Centro de Investigación y de Estudios Avanzados del IPN, Laboratorio de Robótica y Visión Artificial del Departamento de Control Automático, Av. IPN N° 2508, San Pedro Zacatenco 07300 México, MexicoUniversidad Autónoma de Sinaloa, Escuela de Informática de Mazatlán. Av. Universidad y Av. Leonismo Internacional s/n, 82017 Mazatlán, Sin., MexicoUniversidad Politécnica de Madrid, Escuela Técnica Superior de Ingenieros Industriales, Departamento de Automática, Ingeniería Electrónica e Informática Industrial c/ José Gutiérrez Abascal, 2; E-28006 Madrid, SpainUniversidad Politécnica de Madrid, Escuela Técnica Superior de Ingenieros Industriales, Departamento de Automática, Ingeniería Electrónica e Informática Industrial c/ José Gutiérrez Abascal, 2; E-28006 Madrid, SpainUniversidad Politécnica de Madrid, Escuela Técnica Superior de Ingenieros Industriales, Departamento de Automática, Ingeniería Electrónica e Informática Industrial c/ José Gutiérrez Abascal, 2; E-28006 Madrid, SpainThe aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.http://dx.doi.org/10.1080/11762320701848746 |
| spellingShingle | Juan Manuel Ibarra-Zannatha Claudia Marmolejo-Rivas Manuel Ferre-Pérez Rafael Aracil-Santonja Salvador Cobos-Guzmán Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System Applied Bionics and Biomechanics |
| title | Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System |
| title_full | Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System |
| title_fullStr | Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System |
| title_full_unstemmed | Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System |
| title_short | Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System |
| title_sort | haptic manipulation of deformable objects in hybrid bilateral teleoperation system |
| url | http://dx.doi.org/10.1080/11762320701848746 |
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