Title: Evaluation of tele-manipulation of 6 DOF robot using haptic device

Authors: Kanika Rathore; Nathi Ram Chauhan; Nisha Bhatt

Addresses: Mechanical and Automation Engineering Department, Indira Gandhi Delhi Technical University for Women, Delhi, 110007, India ' Mechanical and Automation Engineering Department, Indira Gandhi Delhi Technical University for Women, Delhi, 110007, India ' Mechanical and Automation Engineering Department, Indira Gandhi Delhi Technical University for Women, Delhi, 110007, India

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.

Keywords: tele-manipulation; haptic; workspace mapping; modified rate control; PHANTOM Omni.

DOI: 10.1504/IJMRS.2018.090278

International Journal of Mechanisms and Robotic Systems, 2018 Vol.4 No.2, pp.144 - 153

Available online: 01 Mar 2018

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