Spatial motion constraints: Theory and demonstrations for robot guidance using virtual fixtures

Panadda Marayong, Ming Li, Allison M. Okamura, Gregory D. Hager

Research output: Contribution to journalConference article

Abstract

In this article, we describe and demonstrate control algorithms for general motion constraints. These constraints are designed to enhance the accuracy and speed of a user manipulating in an environment with the assistance of a cooperative or telerobotic system. Our method uses a basis of preferred directions, created off-line or in real-time using sensor data, to generate virtual fixtures that may constrain the user to a curve, surface, orientation, etc. in space. Open loop virtual fixtures seek only to maintain user motion along preferred directions, whereas closed loop fixtures additionally guide the user toward a point, line, or surface. This article demonstrates and compares the effects of open and closed loop fixtures in both autonomous and human-machine cases.

Original languageEnglish (US)
Pages (from-to)1954-1959
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
StatePublished - Dec 9 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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