Platform for experimentation with telerobotic systems

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.