ICRA 2011 Paper Abstract

Close

Paper TuA205.3

Pérez, Alexander (Technical University of Catalonia), Rosell, Jan (Technical University of Catalonia)

An Assisted Re-Synchronization Method for Robotic Teleoperated Tasks

Scheduled for presentation during the Regular Sessions "Teleoperation I" (TuA205), Tuesday, May 10, 2011, 10:35−10:50, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Teleoperation, Haptics and Haptic Interfaces, Industrial Robots

Abstract

Teleoperation tasks are performed at cartesian level when the robot and the haptic device have dissimilar kinematics. If the size of the workspaces is also dissimilar, as it is usually the case, the mapping between workspaces must be handled with care in order to let the user teleoperate the robot in a natural and precise way. This paper formulates the mapping of workspaces based on the re-synchronization method and proposes an assisted system that lightens the user from the tedious part of the method, by guiding him/her towards the best re-synchronization position, thus minimizing the number of jumps. The proposal is part of a teleoperated guiding system being developed by the authors.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2020 PaperCept, Inc.
Page generated 2020-04-02  13:05:20 PST  Terms of use