A rate-position haptic controller for large telemanipulation workspaces

This paper presents a new Haptic Rate-Position controller, which allows manipulating a slave robot in a large workspace. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a virtual slave robot, simulated with Open Dynamics Engine (ODE). A real IFMIF (International Fusion Materials Irradiation Facility) remote handling task has been simulated. Its goal is to carry out remote manipulation of test irradiated materials in a nuclear environment. The proposed algorithm has been compared with the classic Position controller in a Pick & Place manipulation and has shown much better levels of effectiveness.