Teleoperación de un brazo robot Kinova MICO2 a través de un dispositivo Omni Bundle
- Alex D. Paredes 1
- Andrés Úbeda 1
- Gabriel J. Garcia
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1
Universitat d'Alacant
info
- Inés Tejado Balsera (coord.)
- Emiliano Pérez Hernández (coord.)
- Antonio José Calderón Godoy (coord.)
- Isaías González Pérez (coord.)
- Pilar Merchán García (coord.)
- Jesús Lozano Rogado (coord.)
- Santiago Salamanca Miño (coord.)
- Blas M. Vinagre Jara (coord.)
Éditorial: Universidad de Extremadura
ISBN: 978-84-9749-756-5, 978-84-09-04460-3
Année de publication: 2018
Pages: 241-248
Congreso: Jornadas de Automática (39. 2018. Badajoz)
Type: Communication dans un congrès
Résumé
In this work, a remote control of an assistive robot Kinova MICO2 using a haptic Omni Bundle device is presented. This device provides force feedback to increase the operator sensitivity. The most effective kinematic control method has been studied in accordance with the system requirements (position or velocity control) and evaluated with a graphical user interface in Visual Studio for monitoring and configuration. UDP has been established as communication protocol, as it is the best option in terms of speed and robot’s reach. The results show that a velocity PI controller (proportional integral) is the most robust and allows performing teleoperation tasks with a very small error.