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Hulin, Thomas und Hertkorn, Katharina und Kremer, Philipp und Preusche, Carsten und Schätzle, Simon und Artigas, Jordi und Sagardia, Mikel und Zacharias, Franziska (2011) The DLR Bimanual Haptic Device with Optimized Workspace. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seiten 3441-3442. doi: 10.1109/icra.2011.5980066. ISBN 978-1-61284-380-3.
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Kurzfassung
This article accompanies a video that presents a bimanual haptic device composed of two DLR/KUKA Light-Weight Robot (LWR) arms. The LWRs have similar dimensions to human arms, and can be operated in torque and position control mode at an update rate of 1kHz. The two robots are mounted behind the user, such that the intersecting workspace of the robots and the human arms becomes maximal. In order to enhance user interaction, various hand interfaces and additional tactile feedback devices can be used together with the robots. The presented system is equipped with a thorough safety architecture that assures safe operation for human and robot. Additionally, sophisticated control strategies improve performance and guarantee stability. The introduced haptic system is well suited for versatile applications in remote and virtual environments, especially for large unscaled movements.
| elib-URL des Eintrags: | https://elib.dlr.de/69637/ | ||||||||||||||||||||||||||||||||||||
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| Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||||||||||
| Titel: | The DLR Bimanual Haptic Device with Optimized Workspace | ||||||||||||||||||||||||||||||||||||
| Autoren: |
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| Datum: | Mai 2011 | ||||||||||||||||||||||||||||||||||||
| Erschienen in: | Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||||||||||
| DOI: | 10.1109/icra.2011.5980066 | ||||||||||||||||||||||||||||||||||||
| Seitenbereich: | Seiten 3441-3442 | ||||||||||||||||||||||||||||||||||||
| ISBN: | 978-1-61284-380-3 | ||||||||||||||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||||||||||||||
| Stichwörter: | Haptic device, robot, telemanipulation | ||||||||||||||||||||||||||||||||||||
| HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||||||||||||||||||||||||||
| HGF - Programm: | Weltraum (alt) | ||||||||||||||||||||||||||||||||||||
| HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||||||||
| DLR - Schwerpunkt: | Weltraum | ||||||||||||||||||||||||||||||||||||
| DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | W - Weiterentwicklung Robotik - Telerobotik und Autonomie (alt) | ||||||||||||||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||||||||||||||||||||||||||
| Hinterlegt von: | Hulin, Dr. Thomas | ||||||||||||||||||||||||||||||||||||
| Hinterlegt am: | 14 Jun 2011 09:16 | ||||||||||||||||||||||||||||||||||||
| Letzte Änderung: | 11 Nov 2024 09:05 |
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