The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, a new programming method related to the common master-slave approach is introduced, in which the master is replaced by a digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables the haptic rendering of any programmed robot with a serial manipulator on a general-purpose haptic interface. The results show that the proposed haptic rendering reproduces the kinematic properties of the programmed robot and directly provides the desired joint space trajectories. In addition to a stand-alone usage, we demonstrate that the proposed algorithm can be easily paired with existing visual technology for virtual and augmented reality to facilitate a highly immersive programming experience.
Robots show impressive flexibility and reliability in various applications. This makes them suitable to help and support humans in hazardous environments. They can handle dangerous, unknown objects with no risk for the operator’s health. In this work we present a shared operation approach for the identification and localization of unknown hazardous objects as well as a 3D mapping approach for mobile robots in challenging environments. A shared control force-based grasping approach complete these two components and makes it easy for a human operator to grasp and retrieve unknown hazardous objects. Including the human expertise in the operation and control is additionally supported by providing intuitive visualization on different levels of abstraction. The presented approach was successfully evaluated with two different mobile robots within a field test.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.