Teleoperation of an Industrial Robot in an Active Production Line

Abstract

The aim of our research is to develop an industrial internet telecontrol architecture for robots in an active production line. The main objective is to realize teleoperation and telemaintenance tasks, which on the one hand meet user needs of the industry partners and can on the other hand be performed over the common Internet. The involved research fields are human supervisory control, networked control systems and bandwidth management. This report describes the results of some preliminary studies carried out in different testbeds and the real plant. Furthermore, it outlines the resulting teleoperation architecture which is an application of current robotics and control research.

User Evaluation of a Haptic-Enabled Shared-Control Approach for Robotic Telemanipulation

“…Following this notation, and considering the position of the object to be fixed in the scene, the relative gripper/object pose in the gripper frame F G can be obtained as 6 , the linear and angular velocity of the gripper expressed in its own frame, to be the control inputs for the slave manipulator arm.…”

“…Remote telemanipulation has shown significant advancements over the last years and promising results have been achieved in several robotic tasks, such as space exploration [1], minimally invasive surgery [2], sort and segregation of nuclear waste [3]- [5], telemaintenance [6], and micromanipulation [7], [8]. As teleoperation systems become more sophisticated and flexible, the environments and applications where they can be employed become less structured and predictable.…”

Thermal Feedback System From Robot Hand for Telepresence

“…In particular, virtual reality (VR) [3]- [5], augmented reality (AR) [6] , and teleoperation have been actively researched. Teleoperation has been widely adopted in various research fields such as telehealth [7], [8], telemaintenance [9], [10], micromanipulation [11], and disaster response [12], [13]. These researches can be theoretically analyzed [14]- [16] or focused on demonstration of system [17], [18].…”

Haptic-Based Shared-Control Methods for a Dual-Arm System

“…O VER the last few years remote telemanipulation has shown significant advancements and promising results have been achieved in several fields such as minimally-invasive robotic surgery [1], sort and segregation of nuclear waste [2], [3], telemaintenance [4], and micromanipulation [5], [6]. In this respect, the nuclear industry is one of the most exciting fields of application for robotic telemanipulation, where several tasks, such as sort and segregation of nuclear waste, can clearly benefit from advanced telemanipulation techniques.…”