info:eu-repo/semantics/article
Hand controller for bilateral teleoperation of robots
Fecha
2000-11Registro en:
Postigo, Jose Francisco; Mut, Vicente Antonio; Carelli Albarracin, Ricardo Oscar; Baigorria, Luisa Cecilia; Kuchen, Benjamin Rafael; Hand controller for bilateral teleoperation of robots; Cambridge University Press; Robotica; 18; 6; 11-2000; 677-686
0263-5747
CONICET Digital
CONICET
Autor
Postigo, Jose Francisco
Mut, Vicente Antonio
Carelli Albarracin, Ricardo Oscar
Baigorria, Luisa Cecilia
Kuchen, Benjamin Rafael
Resumen
Teleoperation, one of the oldest areas of robotics, has experienced considerable growth in the last two decades. Main causes for this trend are the need for increased safety levels for human operators and lower production costs. In this work, a three d.o.f, local manipulator (two d.o.f, for force and one d.o.f, for torque) is developed. This hand controller, intended for robot or mobile teleoperation systems, has force reflection in two axes and torque reflection in the third axis. using a robotic hand developed at INAUT as a remote device, laboratory experiments on each axis (one at a time) have shown good results. An impedance controller at the remote system allows one to carry out interactive tasks with the environment such as polishing, insertion and grinding, where it is necessary to control and accommodate the interaction forces and torques in order to avoid hazards for both the manipulated objects and the remote robot.