Abstract
Cartesian control algorithms are presented for six degree of freedom (6-DOF) force-reflecting hand-controllers (FRHCs) used for simultaneous operator position/orientation (or rate) commands to a virtual reality (VR) system and virtual force/moment kinesthetic reflection to the operator. The commands and kinesthetic feedback are transferred in Cartesian space. The task force/moment (wrench) dominates while features are provided to reduce operator loading: virtual payload and FRHC gravity compensation, input channels to easily separate 6-DOF inputs with one hand, constant-force return-to-center, and FRHC damping to improve relative stability. In experimental implementation, the "VR system" was a real remotely located teleoperated robotic system with real sensed task wrenches. Experimental results show that the algorithms are effective for reduced contact wrenches and increased telepresence quality in practical tasks. The methods in this paper are suitable for kinesthetic haptic display in virtual environments.
Highlights
Force/moment reflection to a human user can greatly improve telepresence via kinesthetic haptic display in virtual worlds
If a force-reflecting hand-controllers (FRHCs) is used in conjunction with the NTRFC, the force of the operator's hand on the FRHC is proportional to the task wrench applied by the slave manipulator
This paper has presented control algorithms for force-reflecting hand-controllers (FRHCs) used for simultaneous operator commands to a objects in a virtual environment and wrench-reflection back to the operator, both in Cartesian space
Summary
Force/moment (wrench) reflection to a human user can greatly improve telepresence via kinesthetic haptic display in virtual worlds. [Repperger et al, 1993] present haptic feedback in handicapped-assist applications They include the operator's dynamic response to determine if force or position control is preferable for minimum-time tasks. This paper presents a general controller for effective wrench reflection with 6-DOF active hand controllers, in Cartesian space. The remotely-sensed task wrench or computer-generated virtual task wrench can be sent to the active hand controller so the user feels the task wrench Both input commands and output wrenches are transferred in Cartesian space. Control algorithms are developed which simultaneously provide Cartesian wrench feedback to the operator's hand and provide desirable characteristics to reduce operator loading and fatigue These characteristics include hand controller gravity compensation, constant-force return-to-center (for rate inputs), virtual channels so the operator may separate the 6-DOF inputs with one hand, deadbands, and hand controller damping to improve stability. The FRHCs were used to command both virtual robot system models and remote hardware
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