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Haptic aids for bilateral teleoperators
dc.contributor.author | Pérez Ruiz, Alexander |
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2014-01-27T11:07:27Z |
dc.date.created | 2013 |
dc.date.issued | 2013 |
dc.identifier.citation | Pérez, A.; Rosell, J. Haptic aids for bilateral teleoperators. A: ROBOT2013: First Iberian Robotics Conference. "ROBOT2013: First Iberian Robotics Conference, Advances in Intelligent Systems and Computing". Madrid: Springer, 2013, p. 523-539. |
dc.identifier.isbn | 978-3-319-03652-6 |
dc.identifier.uri | http://hdl.handle.net/2117/21370 |
dc.description.abstract | Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping between workspaces, the need to avoid collisions of the teleoperated robot with the environment, and the use of the inverse kinematics and of a procedure to correctly manage the passing through singularities. Within a bilateral teleoperation framework to teleoperate an industrial robot with a desktop haptic device, the present work proposes a guiding system based on path planning techniques to cope with these issues. The proposed system also includes a reactive behavior to cope with the potential collisions with obstacles. Teleoperation tests on virtual and real scenarios are included to validate the approach. |
dc.format.extent | 17 p. |
dc.language.iso | eng |
dc.publisher | Springer |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Haptic devices |
dc.subject.lcsh | Robots -- Control systems |
dc.subject.other | Teleoperation |
dc.subject.other | motion planning |
dc.subject.other | guidance system |
dc.subject.other | haptic devices |
dc.title | Haptic aids for bilateral teleoperators |
dc.type | Conference report |
dc.subject.lemac | Dispositius hàptics |
dc.subject.lemac | Robots -- Sistemes de control |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1007/978-3-319-03653-3_38 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 12988552 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Pérez, A.; Rosell, J. |
local.citation.contributor | ROBOT2013: First Iberian Robotics Conference |
local.citation.pubplace | Madrid |
local.citation.publicationName | ROBOT2013: First Iberian Robotics Conference, Advances in Intelligent Systems and Computing |
local.citation.startingPage | 523 |
local.citation.endingPage | 539 |