Design of a 6 DOF haptic master for teleoperation of a mobile manipulator

Dongseok Ryu, Changhyun Cho, Munsang Kim, Jae Bok Song

Research output: Contribution to journalConference articlepeer-review

16 Citations (Scopus)


This paper presents design of a 6 DOF haptic master which is based on a combination of a planar 3 DOF parallel mechanism and a spatial 3 DOF parallel mechanism. Since low inertia is vital to backdrivability and transparency of the haptic device, all actuators are placed on the base and thus some forces for haptic feedback are transmitted by tendon-driven mechanism. This device was intended to teleoperate a mobile manipulator, which requires planar 3 DOF motion for navigation of the vehicle and full 6 DOF motion for manipulation. Therefore, the proposed device is designed to have two modes of a planar task and a 3D task which are switchable without any change in hardware. This feature provides efficient actuation and reduces computational burden since only 3 actuators are involved in the case of a planar task. The paper deals with a detailed description of the proposed haptic master and Jacobian analysis. Some applications are given to verify the validity of this device.

Original languageEnglish
Pages (from-to)3243-3248
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sept 142003 Sept 19

ASJC Scopus subject areas

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


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