Hand controller for bilateral teleoperation of robots

JOSÉ POSTIGO; VICENTE MUT; LUIS BAIGORRIA; RICARDO CARELLI; BENJAMÍN KUCHEN

ROBOTICA

Cambridge University Press

Lugar: London; Año: 2000 vol. 18 p. 677 - 686

0263-5747

Teleoperation, one of the oldest areas of robotics, has experienced considerable growth in the last two decades. Main causes for this trend are the need for increased safety levels for human operators and lower production consts. In this work, a three d.o.f. local manipulator (two d.o.f. for force and one d.o.f. local manipulator (two d.o.f. for force and one d.o.f. local manipulator (two d.o.f. for force and one d.o.f. for torque) is developed. This hand controller, intended for robot and mobile teleoperation systems, has force reflecttion in two axes and torque reflection in the third axis, using a robotic hand developed at INAUT as a remote device, laboratory experiments on each axis (one at a time) have shown good results. An impedance controller at the remote system allows one to carry out interactive tasks with the environment such as polishing, insertion and grinding, where it is necessary to control and accommodate the interaction forces and torques in order to avoid hazards for both the manipulated objects and the remote robot.