Robotic Tele-operation using a Phantom Haptic Device

Course : MEAM 520 - Introduction to Robotics
Professor : Dr. Jonathan Fiene

Description

The project was to tele-operate a Puma 260 robotic manipulator using a Phanton Haptic device.

Tasks

• Creation of a virtual room using the Phantom
• Converting from the kinematics of the Phantom to that of the Puma 260
• Interfacing a Playstation controller for sending additional commands like clutching, arm rotation, scaling, offset changes, etc.