A Haptic interface design for robotics teaching task

Abstract

A haptic interface having three degrees of freedom of type arm RRR (three rotation joint type) has been designed. This was connected to a virtual environment composed of a robot-like arm of type RRR and a virtual research laboratory. Any action on the haptic interface will generate an animation of the virtual robot according to haptic joint values. The utility of this platform will allow the student studying the robotic movements to simulate many robotic tasks. A geometrical model of the robot and the joint constraints were integrated in the virtual environment. The simulator developed in the study can be adapted to any RRR type robot by modifying only the Denavit Hartenberg parameters and the joint constraint values.