Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface

M. Mahdi Ghazaei Ardakani; Martin Karlsson; Klas Nilsson; Anders Robertsson; Rolf Johansson

IROS 2018poster6 citations

Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface

M. Mahdi Ghazaei Ardakani, Martin Karlsson, Klas Nilsson, Anders Robertsson, Rolf Johansson

Abstract

Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is proposed, where the operator can sense and act through the robot. This is achieved by coupling two robotic systems with virtual constraints such that they have the same coordinates in the operational space disregarding a fixed offset. Limitations caused by the singular configurations or the reach of the robots are naturally reflected to either side as haptic feedback.

BibTeX

@inproceedings{iros2018_masterslavecoord,
  title = {Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface},
  author = {M. Mahdi Ghazaei Ardakani and Martin Karlsson and Klas Nilsson and Anders Robertsson and Rolf Johansson},
  booktitle = {IROS 2018},
  year = {2018}
}