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Article: Six-degree-of-freedom haptic rendering in virtual teleoperation

TitleSix-degree-of-freedom haptic rendering in virtual teleoperation
Authors
KeywordsHaptic Rendering
Path Following
Robotic Simulation
Six-Degree-Of-Freedom (6-Dof)
Virtual Assembly
Virtual Teleoperation
Issue Date2008
Citation
Ieee Transactions On Instrumentation And Measurement, 2008, v. 57 n. 9, p. 1866-1875 How to Cite?
AbstractSix-degree-of-freedom (6-DoF) haptic rendering of the telerobotic operation method using virtual joint coupling (VJC) is proposed. This algorithm couples six joints of a virtual robot with those of a 6-DoF haptic device based on a spring-damper model to render force and torque feedback to a user and drive the virtual robot in the teleoperation simulation. Our rigid body dynamics is decoupled from the haptic rendering loop with an open dynamic simulation library Open Dynamics Engine, which runs at a lower update rate, thereby alleviating computation demand and improving the stability of the system. To illustrate the role of haptics and physically based simulation in teleoperation, a path-following experiment with virtual constraints is carried out. An experiment of virtual assembly, in which a user performs assembly tasks by means of manipulation of a gripper mounted at the end of a virtual robot, is also implemented to verify the VJC algorithm. © 2008 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/156976
ISSN
2015 Impact Factor: 1.808
2015 SCImago Journal Rankings: 1.022
ISI Accession Number ID
Funding AgencyGrant Number
Hong Kong Research Grants CouncilHKU 71090E
Funding Information:

This work was supported by the Hong Kong Research Grants Council under Grant HKU 71090E.

References

 

DC FieldValueLanguage
dc.contributor.authorHe, Xen_US
dc.contributor.authorChen, Yen_US
dc.date.accessioned2012-08-08T08:44:47Z-
dc.date.available2012-08-08T08:44:47Z-
dc.date.issued2008en_US
dc.identifier.citationIeee Transactions On Instrumentation And Measurement, 2008, v. 57 n. 9, p. 1866-1875en_US
dc.identifier.issn0018-9456en_US
dc.identifier.urihttp://hdl.handle.net/10722/156976-
dc.description.abstractSix-degree-of-freedom (6-DoF) haptic rendering of the telerobotic operation method using virtual joint coupling (VJC) is proposed. This algorithm couples six joints of a virtual robot with those of a 6-DoF haptic device based on a spring-damper model to render force and torque feedback to a user and drive the virtual robot in the teleoperation simulation. Our rigid body dynamics is decoupled from the haptic rendering loop with an open dynamic simulation library Open Dynamics Engine, which runs at a lower update rate, thereby alleviating computation demand and improving the stability of the system. To illustrate the role of haptics and physically based simulation in teleoperation, a path-following experiment with virtual constraints is carried out. An experiment of virtual assembly, in which a user performs assembly tasks by means of manipulation of a gripper mounted at the end of a virtual robot, is also implemented to verify the VJC algorithm. © 2008 IEEE.en_US
dc.languageengen_US
dc.relation.ispartofIEEE Transactions on Instrumentation and Measurementen_US
dc.subjectHaptic Renderingen_US
dc.subjectPath Followingen_US
dc.subjectRobotic Simulationen_US
dc.subjectSix-Degree-Of-Freedom (6-Dof)en_US
dc.subjectVirtual Assemblyen_US
dc.subjectVirtual Teleoperationen_US
dc.titleSix-degree-of-freedom haptic rendering in virtual teleoperationen_US
dc.typeArticleen_US
dc.identifier.emailChen, Y:yhchen@hkucc.hku.hken_US
dc.identifier.authorityChen, Y=rp00099en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.1109/TIM.2008.919876en_US
dc.identifier.scopuseid_2-s2.0-49549121574en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-49549121574&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume57en_US
dc.identifier.issue9en_US
dc.identifier.spage1866en_US
dc.identifier.epage1875en_US
dc.identifier.isiWOS:000258617800007-
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridHe, X=24536700300en_US
dc.identifier.scopusauthoridChen, Y=7601430448en_US

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