PublisherInternational Federation of Automatic Control
Rights accessOpen Access
Haptic devices allow the user to feel the reaction forces and torques that arise when the virtual object attached to the user-manipulated probe touches the other objects in the virtual environment. Additionally, the user may feel some guiding constraints and forces that aid him in the completion of a virtual task. Also, haptic devices are used as master devices in teleoperation tasks and may include force reflection from the real forces sensed by a force sensor located at the robot wrist. Both operation modes can be combined to set up an assisted teleoperation system able to execute assembly tasks. This paper proposes the use of path planning techniques based on harmonic functions to generate a guiding force that aids the user during the teleoperation.
CitationVázquez Hurtado, C.; Rosell Gratacós, Jan. Haptic guidance based on harmonic functions for the execution of teleoperated assembly tasks. A: Preprints of the 2007 IFAC Workshop on Intelligent Assembly and Disassembly: IAD’07. Alacant: International Federation of Automatic Control, 2007, p. 88-93.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder. If you wish to make any use of the work not provided for in the law, please contact: firstname.lastname@example.org