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We worked on the Bilateral human in the loop Tele-haptic interface for controlling a robotic manipulator. In this work, we tried to implement the Phantom Omni haptic device to control industrial robotic manipulator through V-REP simulator and ROS. Phantom Omni haptic device controlled by Chi 3dAPI and position updates passed to V-REP and from V-REP to Robotic manipulators through ROS packages. In this work, we rendered basic haptic force feedback in the master side haptic device based on the force value sensed by the force sensor at the end effector.

Phantom Omni <-> Chai 3D <-> V-REP <-> ROS <-> Robotic manipulator.