This content is not included in your SAE MOBILUS subscription, or you are not logged in.
Tele-manipulation of real manipulator with PHANToM
Published June 14, 1999 by ISATA - Dusseldorf Trade Fair in United Kingdom
Event: ISATA 1999
This paper proposes a system that helps an operator control a manipulator using a direct Tele-guidance method and makes it possible for him to teach the real manipulator how to assemble/disassemble mechanical parts. The direct Tele- guidance is realized by calculating joint angles from the position and orientation of the end effector that are specified with PHANToM. Task environment arc captured with two pan-tilt TV cameras which are controlled according to his head movement, and he can see the stereoscopic image of the task environment through an HMD. When the end effector has approached to an object to be grasped, or a part grasped has come up to a target object, he can feel the haptic sensation thorough PHANToM. The device transmits to him the force acting on the force torque sensor attached to the end effector. This information allows him to intuitively recognize the state of the effector together with the visual information and makes it possible to precisely control the robot arm.