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http://dx.doi.org/10.18419/opus-12845
Autor(en): | Park, Jae-Hyun Kim, Min-Cheol Böhi, Ralf Gommel, Sebastian Alexander Kim, Eui-Sun Choi, Eunpyo Park, Jong-Oh Kim, Chang-Sei |
Titel: | A portable intuitive haptic device on a desk for user-friendly teleoperation of a cable-driven parallel robot |
Erscheinungsdatum: | 2021 |
Dokumentart: | Zeitschriftenartikel |
Seiten: | 14 |
Erschienen in: | Applied sciences 11 (2021), No. 3823 |
URI: | http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-ds-128643 http://elib.uni-stuttgart.de/handle/11682/12864 http://dx.doi.org/10.18419/opus-12845 |
ISSN: | 2076-3417 |
Zusammenfassung: | This paper presents a compact-sized haptic device based on a cable-driven parallel robot (CDPR) mechanism for teleoperation. CDPRs characteristically have large workspaces and lightweight actuators. An intuitive and user-friendly remote control has not yet been achieved, owing to the unfamiliar multiple-cable configuration of CDPRs. To address this, we constructed a portable compact-sized CDPR with the same configuration as that of a larger fully constrained slave CDPR. The haptic device is controlled by an admittance control for stiffness adjustment and implemented in an embedded microprocessor-based controller for easy installation on an operator’s desk. To validate the performance of the device, we constructed an experimental teleoperation setup by using the prototyped portable CDPR as a master and larger-size CDPR as a slave robot. Experimental results showed that a human operator can successfully control the master device from a remote site and synchronized motion between the master and slave device was performed. Moreover, the user-friendly teleoperation could intuitively address situations at a remote site and provide an operator with realistic force during the motion of the slave CDPR. |
Enthalten in den Sammlungen: | 02 Fakultät Bau- und Umweltingenieurwissenschaften |
Dateien zu dieser Ressource:
Datei | Beschreibung | Größe | Format | |
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applsci-11-03823-v2.pdf | 5,73 MB | Adobe PDF | Öffnen/Anzeigen |
Diese Ressource wurde unter folgender Copyright-Bestimmung veröffentlicht: Lizenz von Creative Commons