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Kinematic conditioning augmentation to haptic interface for teleoperation
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A solution is proposed for the kinematic conditioning problem in teleoperation. The proposed solution helps the operator in understanding the kinematic conditioning of the slave manipulator with the help of haptic interface. Teleoperation involves manipulation at a remote location by an operator through a master device located at the control station. Visual feedback of the remote location helps the operator in understanding the behavior of the slave manipulator and its environment. The precise perception of the environment and slave manipulator configuration is impossible with the current visual feedback methods where the slave manipulator has to work in complex environment. In such a situation, to assist the operator, the kinematic configuration of the master device is kept similar to that of the salve manipulator. Use of this solution may result in an awkward-to-operate master device which decreases the efficiency of the operator. To make the operator aware of the kinematic conditioning of the slave manipulator, the proposed solution utilizes the capabilities of the haptic interface, which is widely used in teleoperation. Haptic interfaces have been used to transfer the real interaction between the slave manipulator and its environment to the master side. The algorithm developed uses them to generate the virtual force feedback depending on the kinematic conditioning and other physical limits of the slave manipulator. It helps in enhancing the operator skills, increasing the operation efficiency and precision. Singularity condition, joint angle limit, joint velocity limit and non-holonomic constraint of the slave manipulator are considered as factors affecting the kinematic conditioning. Different force feedback strategies are developed to handle the problematic situations, based on which virtual force feedback is generated that assists in deciding further course of action and guides the operator out of the problematic situation. To assess the effectiveness of the virtual force feedback for kinematic conditioning a test bed is developed. Different teleoperation tasks can be performed using a 2 DoF master haptic device and simulation model of the slave manipulator. 3D display is used as a visual interface. Two master haptic devices are used for controlling the slave manipulator. A Non-holonomic mobile base and a 2D planner manipulator are used as slave manipulators.
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Includes bibliographical references (leaves 77-82).
Issued also on microfiche from Lange Micrographics.
Dongaonkar, Ranjeet Manohar (2003). Kinematic conditioning augmentation to haptic interface for teleoperation. Master's thesis, Texas A&M University. Available electronically from
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