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Safe teleoperation of a dual hand-arm robotic system

Autor
Rosell, J.; Suarez, R.; Pérez, A.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
First Iberian Robotics Conference
Any de l'edició
2013
Data de presentació
2013-11-28
Llibre d'actes
ROBOT2013: First Iberian Robotics Conference, Advances in Intelligent Systems and Computing
Pàgina inicial
615
Pàgina final
630
DOI
https://doi.org/10.1007/978-3-319-03653-3_44 Obrir en finestra nova
URL
http://www.car.upm-csic.es/robot2013/ Obrir en finestra nova
Resum
This paper introduces a supervised teleoperation system to cope with some of the main problems that arise in the teleoperation of hand-arm robotic systems. The set-up consists of two magnetic trackers and two sensorized gloves that command, respectively, two industrial robots and the mechanical hands with which they are equipped. The basic mapping aspects both at hand and arm level are discussed, as well as the communication issues related with the implementation done based on ROS (Robot Operati...
Grup de recerca
SIR - Service and Industrial Robotics

Participants