Title:
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Haptic aids for bilateral teleoperators
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Author:
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Pérez Ruiz, Alexander; Rosell Gratacòs, Jan
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
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Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping between workspaces, the need to avoid collisions of the teleoperated robot with the environment, and the use of the inverse kinematics and of a procedure to correctly manage the passing through singularities. Within a bilateral teleoperation framework to teleoperate an industrial robot with a desktop haptic device, the present work proposes a guiding system based on path planning techniques to cope with these issues. The proposed system also includes a reactive behavior to cope with the potential collisions with obstacles. Teleoperation tests on virtual and real scenarios are included to validate the approach. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Haptic devices -Robots -- Control systems -Teleoperation -motion planning -guidance system -haptic devices -Dispositius hàptics -Robots -- Sistemes de control |
Rights:
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Document type:
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Article - Published version Conference Object |
Published by:
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Springer
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