Spatial Motion Constraints Using Flexible Virtual Fixtures

Abstract:

To improve the performance of the multi-obstacle manipulation task of the telerobot in the precise interactive teleoperation environment, this paper proposes a novel spatial-motion-constraints virtual fixtures (VFs) method with two 3D flexible VFs, the warning pipe and the safe pipe, as well as a potential-collision-detection method based on these two flexible VFs. The safe pipe constructs the safe workspace dynamically for the robot while the warning one can detect the deviation from the EE to the reference path by adjusting the radius. Experiments show that the control mode employing our method can assist the operator more precisely in teleoperative tasks along with the reduction in the operating tension.

• Periodical: Applied Mechanics and Materials (Volumes 427-429)
• Pages: 24-28
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.427-429.24
• Online since: September 2013
• Authors: Xiao Min Lu*, Ping Zhang, Guang Long Du
• Keywords: Flexible, Robot Teleoperation, Virtual Fixtures

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