Abstract

MONTANEZ-BARRERA, Jhon Alejandro  and  PINTO-SALAMANCA, María Luisa. Analysis of elements in local area and remote for teleoperation of AL5A robotic arm. Prospect. [online]. 2017, vol.15, n.1, pp.53-63. ISSN 1692-8261.  https://doi.org/10.15665/rp.v15i1.653.

This paper describes the implementing a teleoperation system to control the position of the end effector of the AL5A manipulator robot, from a kinematic characterization and modeling, integrated with computational tools to compare the performance of three types of master devices like a video games joystick, a mobile phone and Novint Falcon™ haptic interface. Two channels of communication are studied to the remote area, wired and wireless. The results obtained allow selecting a haptic master device considering the effect of a three-dimensional movement from the local station teleoperation. With the terms of the graphical interface developed and characteristics of software and hardware used, the communication to the local area with XBee® protocol is ruled by response delays that do not guarantee position tracking of the slave robot.

Keywords : Teleoperation; AL5A robot arm; Position control; Master device; Slave robot.

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