Unilateral teleoperation through a PD
In this article we present the unidirectional teleoperation with two haptic devices through a PD linear control. In recent years, researchers in the area of robotics are on track to manipulate and remotely control robots. Currently, the main contributions of teleoperation systems abound in differe...
| Autores: | , , , , , |
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| Formato: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2019 |
| País: | México |
| Recursos: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/4466 |
| Acesso em linha: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/4466 |
| Access Level: | acceso abierto |
| Palavra-chave: | Teleoperation PD control haptic device manipulated variable communication, feedback UDP protocol Teleoperación control pd dispositivo háptico variable manipulada comunicación retroalimentación protocolo udp |
| Resumo: | In this article we present the unidirectional teleoperation with two haptic devices through a PD linear control. In recent years, researchers in the area of robotics are on track to manipulate and remotely control robots. Currently, the main contributions of teleoperation systems abound in different areas of application such as medicine, industry, construction, hazardous tasks, work in unsafe or unstable environments, in difficult to reach places, tasks of high complexity, among others, since it allows the user protection, security and does not risk his physical integrity. In this article we describe the antecedents, state of the art, experimental results which allows us to demonstrate that the control works correctly despite having the disadvantage of the delay time between the haptic devices, both are of 3 degrees of freedom, in addition, the description detailed experimental equipment, the configuration of the software to select and calibrate the haptic devices. On the other hand, the teleoperation between the manipulative robots is carried out in the Matlab / Simulink® software, where the IP addresses are assigned and the packet traffic between both devices is controlled. |
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