Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, new method related to the master-slave approach introduced, master replaced by digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables rendering any programmed robot with serial manipulator on general-purpose interface. results show proposed reproduces kinematic properties directly provides desired joint space trajectories. addition stand-alone usage, demonstrate can be easily paired existing technology virtual augmented reality facilitate highly immersive experience.