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A Comparative Study of Indirect and Direct Workspace Representation in Human-Robot Interaction
Information Control Problems in Manufacturing, Volume # 13 | Part# 1
Authors
Farkhatdinov, Ildar; Balashov, Vadim; Ryu, Jee-Hwan; Poduraev, Jury
Identifier
10.3182/20090603-3-RU-2001.00289
Index Terms
Robotic Systems; Optimization and Control; Human-Automation Integration
Abstract
This paper presents a comparative study of indirect and direct workspace representation in human-robot interaction. Most of previous researches were using indirect workspace representation or were restricted to mobile robot applications. We extended human-robot interface with direct workspace representation for control of manipulator. Touch screen with representation of manipulators' task space was used as an input/output device with direct workspace representation. Experimental study showed that usage of direct workspace representation significantly improves accuracy and productivity of control in human-robot interaction. Proposed human-robot interface was tested with manipulator. Possible application areas were described.
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