An assisted re-synchronization method for robotic teleoperated tasks
Teleoperation tasks are performed at cartesian level when the robot and the haptic device have dissimilar kinematics. If the size of the workspaces is also dissimilar, as it is usually the case, the mapping between workspaces must be handled with care in order to let the user teleoperate the robot in a natural and precise way. This paper formulates the mapping of workspaces based on the re-synchronization method and proposes an assisted system that lightens the user from the tedious part of the method, by guiding him/her towards the best re-synchronization position, thus minimizing the number of jumps. The proposal is part of a teleoperated guiding system being developed by the authors.
Teleoperation haptic devices workspace mapping
Alexander P(e)rez Jan Rosell
Institute of Industrial and Control Engineering (IOC),Technical University of Catalonia (UPC),Barcelona,Spain
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
886-891
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）