Application of an Industrial Robot in Master-Slave Teleoperation with Haptic Interface
Cabrera, Rigoberto (2010)
2010
Automaatiotekniikan koulutusohjelma
Automaatio-, kone- ja materiaalitekniikan tiedekunta
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Hyväksymispäivämäärä
2010-09-08
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-201009091313
https://urn.fi/URN:NBN:fi:tty-201009091313
Tiivistelmä
The implementation of a master-slave teleoperation system as a technique to perform complex tasks in hazardous environments has been in use for several decades. The results of previous systems developed in the nuclear industry have excellent performance. However, the implementation of every use case has specific requirements that consume a lot of time and resources; the reduction of time in development and budget is an important factor of the system success nowadays. This thesis describes the implementation of a teleoperation system based in the operation of an industrial robot, the already made software, hardware tools and the interaction with a third party software for the system implementation.
The main goal is to implement a conventional teleoperation system with and additional functionalities, which permit to manually manipulate the robot, control the position of the joints and provide a bilateral force-reflection as well. The development is basically divided in two systems. The first system is related with the interaction of the hardware and software that provides the basic teleoperation platform. Such system requires the knowledge of different programming languages, the know-how of mechatronic systems and a high level expertise for the integration of technologies.
The second part of the system focuses on the computation of the parameters related to the dynamics of the robot and the real-time performance of the teleoperation system. The creation of interfaces for monitoring the control loops in the haptic device is the result of the implementation of this thesis work.
The configuration of the teleoperation system on an industrial robot platform is the main limitation; the system has a closed-architecture, where programming or change main variables is not allowed. The implementation is limited by existing software tools and the guidelines provided by the robot manufacturer. However, these tools have the advantage of reducing the implementation time, which has a direct impact on the budget of the project.
Another advantage of this implementation is the utilization of 3D software that provides a state of the arts visual environment, enhancing the user immersion. This gives the operator another tool for reference and facilitates the realization of his tasks. /Kir10
The main goal is to implement a conventional teleoperation system with and additional functionalities, which permit to manually manipulate the robot, control the position of the joints and provide a bilateral force-reflection as well. The development is basically divided in two systems. The first system is related with the interaction of the hardware and software that provides the basic teleoperation platform. Such system requires the knowledge of different programming languages, the know-how of mechatronic systems and a high level expertise for the integration of technologies.
The second part of the system focuses on the computation of the parameters related to the dynamics of the robot and the real-time performance of the teleoperation system. The creation of interfaces for monitoring the control loops in the haptic device is the result of the implementation of this thesis work.
The configuration of the teleoperation system on an industrial robot platform is the main limitation; the system has a closed-architecture, where programming or change main variables is not allowed. The implementation is limited by existing software tools and the guidelines provided by the robot manufacturer. However, these tools have the advantage of reducing the implementation time, which has a direct impact on the budget of the project.
Another advantage of this implementation is the utilization of 3D software that provides a state of the arts visual environment, enhancing the user immersion. This gives the operator another tool for reference and facilitates the realization of his tasks. /Kir10