TAMPERE UNIVERSITY OF TECHNOLOGY RIGOBERTO CABRERA APPLICATION OF AN INDUSTRIAL ROBOT IN MASTER- SLAVE TELEOPERATION WITH HAPTIC INTERFACE Master of Science Thesis
نویسنده
چکیده
TAMPERE UNIVERSITY OF TECHNOLOGY Master’s Degree Programme in Machine Automation CABRERA, RIGOBERTO: Application of an industrial robot in master-slave teleoperation with haptic interface. Master of Science Thesis, 52 pages, 2 Appendix pages May 2010 Major subject: Hydraulic Vehicle Engineering Examiners: Prof. Matti Vilenius MSc. Ali Muhammad
منابع مشابه
Development of a Scaled Teleoperation System for Nano Scale Interaction and Manipulation
In this paper, a visual and haptic human-machine interface is proposed for teleoperated nano scale object interaction and manipulation. Design specifications for a bilateral scaled teleoperation system with slave and master robots, sensors, actuators, and control are discussed. Phantom haptic device is utilized as the master manipulator, and a piezoresistive Atomic Force Microscope probe is sel...
متن کاملHaptic Telerobotics: Application to Assistive Technology for Children with Disabilities
Robotic systems for master-slave teleoperation with haptic feedback capability have been used in diverse areas such as surgical simulation and telerehabilitation. Such systems have not yet been used by children with disabilities who can potentially control the master human-machine interface to sense and manipulate objects using the slave robot. This paper presents a comparison of candidate robo...
متن کاملFinalReport: Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration
Teleoperation has found much application in today’s society. While its benefits make it advantageous in many situations, teleoperation also introduces new challenges. For example, the operator is forced to work with limited sensory feedback such as that from video cameras. Second, the mapping from what the operator inputs at the master manipulandum to what the operator sees the slave robot do c...
متن کاملForce-feedback teleoperation of an industrial robot in a nuclear spent fuel reprocessing plant
Purpose – Aims to make an industrial robot work as a telemanipulator with force feedback, in order to carry out various tasks for remote handling in nuclear fuel cycle plants. Design/methodology/approach – The robot STABLI RX170 (used as a slave arm) has been fitted with a force-torque sensor and an electronic system for sensors’ signals multiplexing. The overall system has been made tolerant ...
متن کاملVirtual Fixture Guidance for Robot Assisted Teleoperation
I the last several decades, minimally Invasive Surgery (MIS) has changed the traditional approaches surgery procedures dramatically. MIS could decrease suffered pain, shorten recovery time and hospital stays for the patient. Teleoperation can solve many problems encountered in conventional surgery, so it is often used in MIS surgery. Teleoperation system is a kind of semiautonomous system; the ...
متن کامل