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Application of an Industrial Robot in Master-Slave Teleoperation with Haptic Interface

Rigoberto Cabrera-2010-09-09-Tampere University Institutional Repository (Tampere University)
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TL;DRAbstract

The implementation of a master-slave teleoperation system as a technique to perform complex tasks in hazardous environments has been in use for several decades. The results of previous systems developed in the nuclear industry have excellent performance. However, the implementation of every use case has specific requirements that consume a lot of time and resources; the reduction of time in development and budget is an important factor of the system success nowadays. This thesis describes the implementation of a teleoperation system based in the operation of an industrial robot, the already made software, hardware tools and the interaction with a third party software for the system implementation. \n\nThe main goal is to implement a conventional teleoperation system with and additional functionalities, which permit to manually manipulate the robot, control the position of the joints and provide a bilateral force-reflection as well. The development is basically divided in two systems. T

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The implementation of a master-slave teleoperation system as a technique to perform complex tasks in hazardous environments has been in use for several decades. The results of previous systems developed in the nuclear industry have excellent performance. However, the implementation of every use case has specific requirements that consume a lot of time and resources; the reduction of time in development and budget is an important factor of the system success nowadays. This thesis describes the implementation of a teleoperation system based in the operation of an industrial robot, the already made software, hardware tools and the interaction with a third party software for the system implementation. \n\nThe main goal is to implement a conventional teleoperation system with and additional functionalities, which permit to manually manipulate the robot, control the position of the joints and provide a bilateral force-reflection as well. The development is basically divided in two systems. T

Keywords

TeleoperationHaptic technologyInterface (matter)RobotMaster/slaveHuman–computer interactionComputer scienceSimulation

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