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Haptic aids for bilateral teleoperators

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Pérez Ruiz, Alexander
Abstract (Spanish)
La teleoperación de tareas robóticas suele realizarse en el espacio cartesiano debido a las diferencias cinemáticas entre el maestro y el esclavo. Esto conlleva varios requisitos, como la definición de un mapeado adecuado entre espacios de trabajo, la necesidad de evitar colisiones del robot teleoperado con el entorno, y el uso de la cinemática inversa y de un procedimiento para gestionar correctamente el paso por singularidades. Dentro de un marco de teleoperación bilateral para teleoperar un robot industrial con un dispositivo háptico de sobremesa, el presente trabajo propone un sistema de guiado basado en técnicas de planificación de trayectorias para hacer frente a estas cuestiones. El sistema propuesto también incluye un comportamiento reactivo para hacer frente a las posibles colisiones con obstáculos. Se incluyen pruebas de teleoperación en escenarios virtuales y reales para validar el enfoque.
Abstract (English)
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.
Extent
17 páginas
URI: https://repositorio.escuelaing.edu.co/handle/001/2304
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AB - Ecitrónica
References

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