Teleoperación de un brazo robot Kinova MICO2 a través de un dispositivo Omni Bundle

  1. Alex D. Paredes 1
  2. Andrés Úbeda 1
  3. Gabriel J. Garcia
  1. 1 Universitat d'Alacant
    info

    Universitat d'Alacant

    Alicante, España

    ROR https://ror.org/05t8bcz72

Libro:
XXXIX Jornadas de Automática: actas. Badajoz, 5-7 de septiembre de 2018
  1. Inés Tejado Balsera (coord.)
  2. Emiliano Pérez Hernández (coord.)
  3. Antonio José Calderón Godoy (coord.)
  4. Isaías González Pérez (coord.)
  5. Pilar Merchán García (coord.)
  6. Jesús Lozano Rogado (coord.)
  7. Santiago Salamanca Miño (coord.)
  8. Blas M. Vinagre Jara (coord.)

Editorial: Universidad de Extremadura

ISBN: 978-84-9749-756-5,  978-84-09-04460-3

Ano de publicación: 2018

Páxinas: 241-248

Congreso: Jornadas de Automática (39. 2018. Badajoz)

Tipo: Achega congreso

DOI: 10.17979/SPUDC.9788497497565.0241 DIALNET GOOGLE SCHOLAR lock_openRUC editor

Resumo

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.

Fonte de datos: Dialnet