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.
Item URL in elib: | https://elib.dlr.de/65770/ | ||||||||||||||||||||
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Document Type: | Article | ||||||||||||||||||||
Title: | Workspace Comparisons of Setup Configurations for Human-Robot Interaction | ||||||||||||||||||||
Authors: |
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Date: | 20 October 2010 | ||||||||||||||||||||
Journal or Publication Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010) | ||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||
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 (until 2012) > Robotic Systems | ||||||||||||||||||||
Deposited By: | Hulin, Dr. Thomas | ||||||||||||||||||||
Deposited On: | 21 Oct 2010 09:16 | ||||||||||||||||||||
Last Modified: | 28 Mar 2023 23:38 |
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