Platform for experimentation with telerobotic systems

Author

Casas, Adrián Mora ; Cruz, Antonio Barrientos

Author_Institution

Univ. Politecnica de Madrid, Spain

Volume

2

fYear

2002

fDate

2002

Firstpage

1632

Abstract

In this paper a new open platform for experimentation in tele-manipulation tasks is presented. The main goal is to obtain an open system with several features in order to evaluate different factors like kinematics relations between master and slave, haptic feedback, bilateral control, communications bandwidth, man-machine interface with the operator, and other factors that can affect the results of the telerobotics system tasks. In this paper the platform is described and an analysis of the factors that affect the telemanipulation tasks is also presented. Finally, an experimental analysis with some results is shown.

Keywords

design of experiments; force feedback; manipulator kinematics; open systems; telerobotics; user interfaces; bilateral control; communications bandwidth; haptic feedback; kinematics; man machine interface; master slave system; open platform; telemanipulation; telerobotics system; Bandwidth; Communication system control; Control systems; Feedback; Haptic interfaces; Kinematics; Master-slave; Open systems; Telerobotics; User interfaces;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1043989

Filename

1043989