Telerobotics on the

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14 Νοε 2013 (πριν από 3 χρόνια και 11 μήνες)

102 εμφανίσεις

Telerobotics on the
Internet

James Mellington

Overview

Telerobotics

Project Goals

Basic System Components

The Original System

Extension of the System

User Feedback

Summary

Telerobotics

What is a telerobot?


A remotely controlled device, designed to
perform some type of positioning or
mechanical manipulation under the real time
direction of a human operator.


What is the motivation behind the CSSE
telerobotics lab?

Project Goals


Two goals;


To create a system which provides the user
with the necessary feedback to move the
robot to a precise location without running into
objects or structures.


To make the system easily transportable to
other telerobots.


Basic System Components

Remote Manipulator


4 axis robot


Interface for operator
-
machine interaction


Operator to robot


Robot to operator

The Original System



Operator Control


Simulation of the teach pendant



Robot Feedback


Visual

Extension of the Original
System

Robot feedback


Vision System


Extension of the Original
System (cont.)

Extension of the Original
System (cont.)

Robot feedback (cont.)


Force Sensor


Operator control


Aids for user

orientation

User Feedback


Several groups were tested.


Second year students


Non robotic users


Summary

Achievements.


What still needs to be done?


Integrating the force sensor.


Transporting this system on to the other
robots in the telerobotics lab.

Questions ?