8 November 1999 Augmented haptics of manipulator kinematic condition
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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.
© (1999) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Thavida Maneewarn, Thavida Maneewarn, Blake Hannaford, Blake Hannaford, } "Augmented haptics of manipulator kinematic condition", Proc. SPIE 3840, Telemanipulator and Telepresence Technologies VI, (8 November 1999); doi: 10.1117/12.369290; https://doi.org/10.1117/12.369290

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