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Título:	Use of path planning techniques based on harmonic functions for the haptic guidance of teleoperated assembly tasks
Autor/a:	Vázquez Hurtado, Carlos; Rosell Gratacòs, Jan
Otros autores:	Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
Abstract:	Haptic devices allow the user to feel the reaction forces and torques that arise when the virtual object attached to the user-manipulated probe touches the other objects in the virtual environment. Additionally, the user may feel some guiding constrains and forces that aid him in the completion of a virtual task. Also haptic devices are used as master devices in teleoperation tasks and may include force reflection from the real forces sense by a force sensor located at the robot wrist. Both operation modes can be combined to set up an assisted teleoperation system able to execute assembly tasks. This paper proposes the use of path planning techniques based on harmonic functions to generate a guiding force that aids the user during the teleoperation
Materia(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robot hands -Harmonic functions -Dispositius tàctils -Teleoperació -Tasques de muntatge -Funcions harmòniques -Planificació de camins -Haptic devices -Teleoperation -Assembly tasks -Harmonic functions -Path planning -Dispositivos táctiles -Teleoperación -Tareas de montaje -Funciones armónicas -Planificación de caminos -Robots -- Sistemes de control -- Informes tècnics
Derechos:	Attribution-NonCommercial-NoDerivs 2.5 Spain http://creativecommons.org/licenses/by-nc-nd/2.5/es/
Tipo de documento:	Informe
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