Implementation of an Android based teleoperation application for controlling a KUKA-KR6 robot by using sensor fusion

Author

Yepes, Juan C. ; Yepes, Juan J. ; Martinez, Juan ; Perez, Vera Z.

Author_Institution

Centro de Bioingenieria, Univ. Pontificia Bolivariana, Medellin, Colombia

fYear

2013

fDate

April 29 2013-May 4 2013

Firstpage

1

Lastpage

5

Abstract

Teleoperated systems have been used in diverse biomedical applications, from the rehabilitation of patients, the management of biological hazardous material and medication storage, to minimally invasive surgery. This paper, introduces an Android OS (operating system) based application that communicates with an industrial robot Kuka KR-6 through USB to Serial connection, to control it with the on-board accelerometers, and gyroscopes of a tablet or smartphone, intended to be used in telemedicine procedures. Arduino Uno microcontroller board, RS232 Shifter SMD and mobile device were used to develop this work. To evaluate this system a survey was done with engineering related users.

Keywords

accelerometers; gyroscopes; medical robotics; microcontrollers; mobile robots; operating systems (computers); sensors; smart phones; telemedicine; telerobotics; Android OS; Android based teleoperation application; Arduino Uno microcontroller board; RS232 Shifter SMD; USB; biological hazardous material management; biomedical application; gyroscope; industrial robot Kuka KR-6; medication storage management; mobile device; on-board accelerometer; patient rehabilitation; sensor fusion; serial connection; smartphone; surgery; tablet; telemedicine procedure; teleoperated system; Androids; Robot kinematics; Robot sensing systems; Sensor fusion; Smart phones; Universal Serial Bus; Application software; Biohazards; Robot Control; Sensor fusion; Telemedicine;

fLanguage

English

Publisher

ieee

Conference_Titel

Health Care Exchanges (PAHCE), 2013 Pan American

Conference_Location

Medellin

ISSN

2327-8161

Print_ISBN

978-1-4673-6254-2

Type

conf

DOI

10.1109/PAHCE.2013.6568286

Filename

6568286