Physical Sciences and Mathematics Commons^™

Six D.O.F Haptic Rendered Simulation Of The Peg-In-Hole Assembly, Shen Dong, Fazel Naghdy, Yan Chen

Faculty of Informatics - Papers (Archive)

A new paradigm for programming of robotics manipulator to perform complex constrained motion tasks is being studied. The teaching of the manipulation skills to the machine starts by demonstmting those skills in a haptic -rendered virtual environment. Position and contact force and torque data generated in the virtual environment combined with a priori knowledge about the task is used to identify and learn the skills in the newly demonstrated tasks and then to reproduce them in the robotics system. The peg-in-hole insertion problem is used as a case study. In the ftrst implementation of the virtual manipulahon envlfonment, a three …