Affiliations: Centro de Investigación y de Estudios Avanzados del IPN, Laboratorio de Robótica y Visión Artificial del Departamento de Control Automático, Av. IPN N° 2508, San Pedro Zacatenco 07300 México, D. F. México | Universidad Autónoma de Sinaloa, Escuela de Informática de Mazatlán. Av. Universidad y Av. Leonismo Internacional s/n, 82017 Mazatlán, Sin., Mexico | Universidad Politécnica de Madrid, Escuela Técnica Superior de Ingenieros Industriales, Departamento de Automática, Ingeniería Electrónica e Informática Industrial c/ José Gutiérrez Abascal, 2; E-28006 Madrid, Spai
Abstract: The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.
Keywords: Deformable objects, haptics, bilateral teleoperation, virtual environment, force reflection