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Workspace Comparisons of Setup Configurations for Human-Robot Interaction

Zacharias, Franziska and Howard, Ian S. and Hulin, Thomas and Hirzinger, Gerd (2010) Workspace Comparisons of Setup Configurations for Human-Robot Interaction. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010). IEEE.

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Abstract

In virtual assembly verification or remote maintenance tasks, bimanual haptic interfaces play a crucial role in successful task completion. This paper proposes a method for objectively comparing how well a haptic interface covers the reachable workspace of human arms. Two system configurations are analyzed for a recently introduced haptic device that is based on two DLR-KUKA light weight robots: the standard configuration, where the device is opposite the human operator, and the ergonomic configuration, where the haptic device is mounted behind the human operator. The human operator directly controls the robotic arms using handles. The analysis is performed using a representation of the robot arm workspace. The merits of restricting the comparisons to the most significant regions of the human workspace are discussed. Using this method, a greater workspace correspondence for the ergonomic configuration was shown.

Document Type:Article
Title:Workspace Comparisons of Setup Configurations for Human-Robot Interaction
Authors:
AuthorsInstitution or Email of Authors
Zacharias, Franziskafranziska.zacharias@dlr.de
Howard, Ian S.UNSPECIFIED
Hulin, ThomasThomas.Hulin@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:20 October 2010
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)
Publisher:IEEE
Status:Published
Keywords:Workspace Analysis, Light-Weight Robot, Haptic Device
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Thomas Hulin
Deposited On:21 Oct 2010 09:16
Last Modified:12 Dec 2013 21:03

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