Passive bilateral teleoperation framework for assisted robotic tasks

Autor:	Nuño Ortega, Emmanuel, Basañez Villaluenga, Luis|||0000-0002-5599-1636, Ortega, Romeo
Přispěvatelé:	Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
Předmět:	Teleoperació bilateral Robots Control systems Bilateral teleoperation Robòtica -- Congressos Canal de comunicació passiu Assisted robotic tasks Passive communication channel Informàtica::Robòtica [Àrees temàtiques de la UPC] ComputingMethodologies_COMPUTERGRAPHICS
Zdroj:	Recercat. Dipósit de la Recerca de Catalunya instname UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC)
Popis:	This paper addresses the problem of stable bilateral teleoperation, through a time-delayed communication channel, for a n-DOF system without position drift. The classical wave variables-based scheme encodes velocity and force whilst the proposed scheme encodes position and integral of force. The resulting passive communication scheme is used in an extended teleoperation framework, in which the human operator can define geometrical motion restrictions in order to increase his awareness and his feeling of immersion, hence improving his ability to perform complex tasks. The framework also provides the operator with video feedback and 3D rendering of the remote scene.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::c91d14d11c6b6fdee7da69d05f3009ee http://hdl.handle.net/2117/1279 Zobrazit plný text záznamu