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Memorias de investigación
Conferences:
A rate-position haptic controller for large telemanipulation workspaces
Year:2013
Research Areas
  • Robotics
Information
Abstract
This paper presents a new Haptic Rate-Position controller, which allows manipulating a slave robot in a large workspace. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a virtual slave robot, simulated with Open Dynamics Engine (ODE). A real IFMIF (International Fusion Materials Irradiation Facility) remote handling task has been simulated. Its goal is to carry out remote manipulation of test irradiated materials in a nuclear environment. The proposed algorithm has been compared with the classic Position controller in a Pick & Place manipulation and has shown much better levels of effectiveness.
International
Si
978-1-4673-1737-5
Entity
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Entity Nationality
Sin nacionalidad
Place
Vilamoura, Portugal
Participants
  • Autor: Jorge Barrio
  • Autor: Francisco Alejandro Suarez Ruiz (UPM)
  • Autor: Manuel Ferre Perez (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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