Title:
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Teleoperating a mobile manipulator and a free-flying camera from a single haptic device
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Author:
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Claret Robert, Josep Arnau; Zaplana Agut, Isiah; Basañez Villaluenga, Luis
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Other authors:
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Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
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Abstract:
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The paper presents a novel teleoperation system that allows the simultaneous and continuous command of a ground mobile manipulator and a free flying camera, implemented using an UAV, from which the operator can monitor the task execution in real-time. The proposed decoupled position and orientation workspace mapping allows the teleoperation from a single haptic device with bounded workspace of a complex robot with unbounded workspace. When the operator is reaching the position and orientation boundaries of the haptic workspace, linear and angular velocity components are respectively added to the inputs of the mobile manipulator and the flying camera. A user study on a virtual environment has been conducted to evaluate the performance and the workload on the user before and after proper training. Analysis on the data shows that the system complexity is not an obstacle for an efficient performance. This is a first step towards the implementation of a teleoperation system with a real mobile manipulator and a low-cost quadrotor as the free-flying camera. |
Abstract:
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica -Manipulators (Mecanism) -- Automatic control -Robots -- Control systems -Teleoperation -mobile manipulator -haptic -UAV -free-flying camera -workspace mapping -Manipuladors (Mecanismes) -- Control automàtic -Robots -- Sistemes de control |
Rights:
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http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Document type:
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Conference Object |
Published by:
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Institute of Electrical and Electronics Engineers (IEEE)
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