Evaluation of tele-manipulation of 6 DOF robot using haptic device
by Kanika Rathore; Nathi Ram Chauhan; Nisha Bhatt
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 4, No. 2, 2018

Abstract: Tele-manipulation enjoyed a vast application in the field of robotics. The advent of technologies such as haptic devices made tele-manipulation more expedient and realistic. The challenge is to opt for a suitable motion mapping technique as the demand for each tele-manipulation system varies. This paper presents an experimental setup to tele-manipulate a mobile 6 DOF robot using PHANTOM Omni haptic device by Sensable Technologies. The robot handles hazardous and incendiary material and thus demands large as well as precise manipulations. The workspaces of master haptic device and slave robot vary majorly. Kinematics of both master and slave robot is analysed and positioning with modified rate control mapping technique is realised. The upshot of the experiment affirms the feasibility and ease of use of this mapping technique. A few limitations of this approach are also discussed.

Online publication date: Wed, 07-Mar-2018

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechanisms and Robotic Systems (IJMRS):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com