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Proceedings Paper

Augmented haptics of manipulator kinematic condition
Author(s): Thavida Maneewarn; Blake Hannaford
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Paper Abstract

This paper describes a study of whether haptic feedback can be used to represent information that is normally difficult to obtain via visual feedback in telerobotic system. Problems of manipulator kinematic condition such as singularity and joint limit have been well known for a long time. Kinematic condition of the manipulator is difficult to be recognized visually. Poor kinematic condition often causes trajectory error or other undesirable effects in the system. This problem is quite significant in telerobotics since a fully pre-planned path that completely excludes poor kinematic condition is usually not available.

Paper Details

Date Published: 8 November 1999
PDF: 11 pages
Proc. SPIE 3840, Telemanipulator and Telepresence Technologies VI, (8 November 1999); doi: 10.1117/12.369290
Show Author Affiliations
Thavida Maneewarn, Univ. of Washington (United States)
Blake Hannaford, Univ. of Washington (United States)

Published in SPIE Proceedings Vol. 3840:
Telemanipulator and Telepresence Technologies VI
Matthew R. Stein, Editor(s)

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