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Haptic guidance based on harmonic functions for the execution 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 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.
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robots Control systems
Haptic devices
Assembly tasks
Path planning
Harmonic functions
Dispositius tàctils
Funcions harmòniques
Robots -- Control
Funcions harmòniques
Article - Draft
International Federation of Automatic Control

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