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Use of path planning techniques based on harmonic functions for the haptic guidance of teleoperated assembly tasks
Vázquez Hurtado, Carlos; Rosell Gratacòs, Jan
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
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 constrains 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 sense 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
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robot hands
Harmonic functions
Dispositius tàctils
Teleoperació
Tasques de muntatge
Funcions harmòniques
Planificació de camins
Haptic devices
Teleoperation
Assembly tasks
Harmonic functions
Path planning
Dispositivos táctiles
Teleoperación
Tareas de montaje
Funciones armónicas
Planificación de caminos
Robots -- Sistemes de control -- Informes tècnics
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
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