Top > IJAT > Use of 1DOF Haptic Device for Remote-Controlled 6DOF Assembly

single-au.php

IJAT Vol.8 No.3 pp. 452-459
doi: 10.20965/ijat.2014.p0452
(2014)

Paper:

Views over last 60 days: 755

Use of 1DOF Haptic Device for Remote-Controlled 6DOF Assembly

Ryoya Kamata, Ryosuke Tamura, Satoshi Niitsu,
Hiroshi Kawaharada, and Hiroyuki Hiraoka

Department of Precision Mechanics, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

Received:
November 29, 2013
Accepted:
April 7, 2014
Published:
May 5, 2014
Creative Commons License
Keywords:
remote control, assembly, DOF, haptic, virtual plane
Abstract
This paper describes a remote controlled assembly using a haptic device. Most haptic devices have six Degrees Of Freedom (DOFs) for a higher sense of reality. However, for assembly operation, the simultaneous motion of parts with only one or two DOFs is required, and force feedback to operators is used only to maintain contact and detect collisions among parts. This leads to the possibility of assembly operations using a haptic device with a small number of DOFs. In this paper, we propose virtual planes to perform remote control of a 6DOF assembly by way of 1DOF user operations. Virtual planes separate the DOFs for user operation and for automatically generated motions that complement the user operation DOF in each assembly operation. A prototype system was developed with a 6DOF manipulator and camera. The system allows an operator to place virtual planes in any position and orientation using a camera image of the workspace. The experiment results showed the effectiveness of the method for remote controlled assembly without geometry information on the parts.
Cite this article as:
R. Kamata, R. Tamura, S. Niitsu, H. Kawaharada, and H. Hiraoka, “Use of 1DOF Haptic Device for Remote-Controlled 6DOF Assembly,” Int. J. Automation Technol., Vol.8 No.3, pp. 452-459, 2014.
Data files:
References
  1. [1] K. Ohi and H. Hiraoka, “3DOF remote controlled assembly operation by 1DOF operation using haptic device: Use of contact state of parts and force sense,” Proc. of 2010 The Japan Society For Precision Engineering Spring Meeting, M34 2010. (in Japanese)
  2. [2] Y. Amauchi, K. Ohi, H. Hiraoka, and K. Funabashi, “Assembly operation using 2DOF haptic device: Simulation of assembly operation with assembly model,” Proc. of 2009 The Japan Society For Precision Engineering Spring Meeting, G18 2009. (in Japanese)
  3. [3] J. Takamatsu, H. Tominaga, K. Ogawara, H. Kimura, and K. Ikeuchi, “Extracting manipulation skills from observation,” IEEE Int. Conf. on Intelligent Robots and Systems, Vol.1, pp. 584-589, 2000.
  4. [4] J. Takamatsu, K. Ogawara, H. Kimura, and Ikeuchi, “Understanding of human assembly tasks for robot execution generation of optimal trajectories based on transitions of contact Relations,” The J. of the Robotics Society of Japan, Vol.22, No.6, pp. 752-589, 2004. (in Japanese)
  5. [5] T. Ogasawara and K. Takase, “Remote assistance method for advanced teleoperation using an intervention tool,” The J. of the Robotics Society of Japan, Vol.10, No.1, pp. 107-117, 1992. (in Japanese)
  6. [6] N. Y. Klau, M. C. C. Ngan, L. C. C. Wai, and A. K. S. Ng, “A force-reflecting teleoperator system with assembly state feedback,” Assembly Automation, Vol.24, No.2, pp. 192-200, 2004.
  7. [7] S. Hirai and T. Sato, “A language based master-slave manipulator,” Trans. of the Society of Instrument and Control Engineers, Vol.20, No.1, pp. 78-84, 1984. (in Japanese)
  8. [8] L. B. Rosenberg, “Virtual fixtures: perceptual tools for telerobotic manipulation,” Proc. of IEEE Virtual Reality Annual Int. Symp., pp. 76-82, 1993.
  9. [9] M. Shimizu and K. Kosuge, “Planar parts mating task using structured compliance,” The J. of the Robotics Society of Japan, Vol.20, No.8, pp. 852-859, 2002. (in Japanese)
  10. [10] F. G. Pin and S. M. Killough, “A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots,” IEEE Trans. on Robotics and Automation, Vol.10, No.4, Aug. 1994.
  11. [11] A. Hara, Y. Aamauchi, H. Kawaharada, and H. Hiraoka, “6DOF Assembly Operation by1DOF User Operation,” Proc. of the 29th Annual conf. of the Robotics Society of Japan, 3L1-1, 2011. (in Japanese)
  12. [12] H. Makino, M. Murata, and N. Huruta, “Development of a SCARA robot,” The Japan Society For Presion Engineering, Vol.48, No.3, pp. 94-97, 1982. (in Japanese)
  13. [13] R. Kamata, A. Hara, H. Kawaharada, and H. Hiraoka, “Remote-Controlled 6DOF Assembly using a 1DOF Haptic Device with Virtual Planes,” Asian Conf. on Design and Digital Engineering 2012, 2012.
  14. [14] R. Kamata, S. Niitsu, R. Tamura, H. Kawaharada, and H. Hiraoka, “Development of a haptic device with 1 degree of freedom used for remote controlled assembly operation in 6 degree of freedom,” Proc. of 2012 The Japan Society For Precision Engineering Spring Meeting, I38, pp. 641-642, 2012. (in Japanese)
  15. [15] R. Tamura, S. Niitsu, R. Kamata, H. Kawaharada, and H. Hiraoka, “Development of a virtual axis system used for remote controlled assembly operation,” Manufacturing System Division Conf. 2013, 108, pp. 45-46, 2013. (in Japanese)
  16. [16] S. Niitsu, R. Tamura, R. Kamata, H. Kawaharada, and H. Hiraoka, “Development of a mouse-type haptic device with 1 degree of freedom used for remote controlled assembly operation in 6 degree of freedom,” Manufacturing System Division Conf. 2013, 109, pp. 47-48, 2013. (in Japanese)
  17. [17] H. Hiraoka, Y. Takahashi, and M. Ito, “Simulation-based evaluation of assemblability for machine parts,” Computer Applications in Production Engineering, 49, pp. 487-498, 1995.
  18. [18] A. Redford and J. Chal, “Design For Assembly – PRINCIPLES and PRACTICE –,” McGRAW-HILL BOOK COMPANY, 1997.
  19. [19] T. Yoshikawa and K. Yoshimoto, “Haptic Virtual Reality Simulation of Assembly Operation,” TVRSJ Vol.4, No.1, pp. 313-320, 1999.
  20. [20] T. Yoshikawa and H. Ueda, “Construction of Virtual World using Dynamics Modules and Interaction Modules,” Proc. of the 1996 IEEE Int. Conf. on Robotics and Automation, pp. 2358-2364, 1996.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 19, 2024